Dimos (#1130)

### Summary
This should be the PR that gets a drivable dashboard on the car.

### Changelist
- Logging
- Improved Types/DS for GPIO

### Testing Done
- [x] runs on local dev
- [x] runs on dev board
- [x] runs on aux dim board

### Resolved Issues
- Solves logging in
[SW-87](https://ubcformulaelectric.atlassian.net/jira/software/projects/SW/boards/20?selectedIssue=SW-87)
- Solves GPIO Navigation in
[SW-72](https://ubcformulaelectric.atlassian.net/jira/software/projects/SW/boards/20?selectedIssue=SW-72)

### Checklist
*Please change `[ ]` to `[x]` when you are ready.*
- [x] I have read and followed the code conventions detailed in
[README.md](../README.md) (*This will save time for both you and the
reviewer!*).
- [x] If this pull request is longer then **500** lines, I have provided
*explicit* justification in the summary above explaining why I *cannot*
break this up into multiple pull requests (*Small PR's are faster and
less painful for everyone involved!*).


[SW-87]:
https://ubcformulaelectric.atlassian.net/browse/SW-87?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ

[SW-72]:
https://ubcformulaelectric.atlassian.net/browse/SW-72?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ

---------

Co-authored-by: Gus Tahara-Edmonds <[email protected]>
Co-authored-by: peterjinweigu <[email protected]>
Co-authored-by: Edwin <[email protected]>

.gitignore

@@ -141,10 +141,10 @@ build_fw_deploy_wsl
 build_fw_test
 build_fw_test_wsl
 
-build_dimos_deploy
-build_dimos_dev
-build_dimos_test
-build_dimos_docker
+build_dimos_deploy*
+build_dimos_dev*
+build_dimos_test*
+build_dimos_docker*
 
 environment/bin
 CMakeUserPresets.json

CMakeLists.txt

@@ -1,6 +1,6 @@
 message("💡 Starting UBC Formula Electric Generate")
 
-cmake_minimum_required(VERSION 3.24)
+cmake_minimum_required(VERSION 3.22.3)
 set(CMAKE_SYSTEM_VERSION 1)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 20)
@@ -12,7 +12,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(REPO_ROOT_DIR ${CMAKE_SOURCE_DIR})
 set(SCRIPTS_DIR "${CMAKE_SOURCE_DIR}/scripts")
 set(ENV_BIN_PREFIX ${CMAKE_CURRENT_SOURCE_DIR}/environment/bin)
-cmake_policy(SET CMP0135 NEW)
+# cmake_policy(SET CMP0135 NEW)
 Set(FETCHCONTENT_QUIET FALSE)
 include(scripts/code_generation/jsoncan/jsoncan.cmake)
 include(scripts/code_generation/commit_info_gen/commit_info.cmake)
@@ -36,6 +36,7 @@ include(${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake)
 message("✅ Download CPM.cmake")
 
 # ======== Host system specific settings ========
+message("🖥️ Host System: ${CMAKE_SYSTEM_NAME}")
 IF (WIN32)
 	message("🪟 Building for Windows")
 	set(BINARY_SUFFIX ".exe")

Pipfile

@@ -25,6 +25,7 @@ pandas = "*"
 pytest = "*"
 python-dateutil = "*"
 requests = "*"
+GitPython = "*"
 influxdb-client = "*"
 flask = "*"
 

README.md

@@ -2,6 +2,8 @@
 
 A repository for all software and firmware from UBC Formula Electric.
 
+[![Binary and DBC Generation](https://github.com/UBCFormulaElectric/Consolidated-Firmware/actions/workflows/master_cd.yml/badge.svg)](https://github.com/UBCFormulaElectric/Consolidated-Firmware/actions/workflows/master_cd.yml)
+
 ## Table of Contents
 
 - [Consolidated-Firmware](#consolidated-firmware)

can_bus/quadruna/dimos/dimos_rx.json

@@ -1,4 +1,14 @@
 {
-	"messages": [
-	]
+    "messages": [
+        "FSM_Wheels",
+        "FSM_Apps",
+        "FSM_Brake",
+        "BMS_VoltageAndChargeStats",
+        "BMS_TractiveSystem",
+        "BMS_CellTemperatures",
+        "VC_PowerLimit",
+        "VC_GlobalShdnNodeStatus",
+        "INVL_Temperatures1",
+        "INVR_Temperatures3"
+    ]
 }

firmware/quadruna/VC/src/app/states/app_driveState.c

@@ -66,7 +66,6 @@ void transmitTorqueRequests(float apps_pedal_percentage)
 
 static void driveStateRunOnEntry(void)
 {
-
     // Enable buzzer on transition to drive, and start 2s timer.
     app_timer_init(&buzzer_timer, BUZZER_ON_DURATION_MS);
     app_timer_restart(&buzzer_timer);
@@ -118,13 +117,13 @@ static void driveStateRunOnTick100Hz(void)
     bool turn_tv_led                     = torque_vectoring_switch_is_on;
 
     // Regen + TV LEDs and update warnings
-    if(turn_regen_led)
+    if (turn_regen_led)
     {
         app_canTx_VC_RegenEnabled_set(true);
         app_canTx_VC_Warning_RegenNotAvailable_set(false);
     }
-    
-    if(!regen_switch_is_on)
+
+    if (!regen_switch_is_on)
     {
         app_canTx_VC_RegenEnabled_set(false);
         app_canTx_VC_Warning_RegenNotAvailable_set(true);

setup.ps1

@@ -0,0 +1,3 @@
+E:\environment-setup-armv8a-poky-linux.bat
+
+& "E:\sysroots\x86_64-w64-mingw32\usr\bin\cmake.exe" -G Ninja -DPLATFORM=dimos -DHANDLE_DEPS=ON -DFIX_FORMATTING=OFF -DTARGET=dev -DUSE_COMMIT_INFO=MINIMAL -S . -B ./build_dimos_deploy

software/dimos/.gitignore

@@ -60,3 +60,6 @@ compile_commands.json
 
 **/*.txt
 !**/*/CMakeLists.txt
+
+flash.ps1
+flash.sh

software/dimos/CMakeLists.txt

@@ -1,13 +1,12 @@
-cmake_minimum_required(VERSION 3.24)
+cmake_minimum_required(VERSION 3.22.3)
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-if("${TARGET}" STREQUAL "deploy")
-    set(EXECUTABLE_NAME dimos)
+if ("${TARGET}" STREQUAL "deploy")
 elseif ("${TARGET}" STREQUAL "dev")
-    set(EXECUTABLE_NAME dimos_dev)
-else()
+else ()
     message(FATAL_ERROR "❌ Unknown target ${TARGET}")
-endif()
+endif ()
+set(EXECUTABLE_NAME dimos)
 
 add_subdirectory(src)

software/dimos/Dockerfile_build

@@ -42,8 +42,9 @@ RUN pip3 install -r requirements.txt --break-system-packages
 # __deps__
 RUN apt-get -q -y install \
     qmake6 \
+    git \
     cmake \
-    ninja \
+    ninja-build \
     gpiod \
     libgpiod-dev \
     qt6-base-private-dev \
@@ -62,10 +63,15 @@ RUN apt-get -q -y install \
     qml6-module-qtquick-templates \
     libqt6opengl6-dev \
     libqt6svg6 \
-    libqt6svg6-dev
+    libqt6svg6-dev \
+    libqt6core5compat6 \
+    libqt6core5compat6-dev
 
 # cleanup
 RUN apt-get clean && apt-get autoremove && \
     rm -rf /var/lib/apt/lists/*
 
+# make git work
+RUN git config --global --add safe.directory '*'
+
 WORKDIR /app

software/dimos/Dockerfile_container

@@ -3,7 +3,6 @@ ARG IMAGE_ARCH=arm64
 ARG GPU=-vivante
 
 FROM --platform=linux/${IMAGE_ARCH} torizon/qt6-wayland${GPU}:${BASE_VERSION}
-
 ARG IMAGE_ARCH
 ARG GPU
 
@@ -35,6 +34,7 @@ RUN apt-get -q -y update && \
 RUN apt-get -q -y update && \
     apt-get -q -y install \
     file \
+    gpiod \
     curl \
     qt6-base-private-dev \
     qt6-base-dev \
@@ -49,11 +49,15 @@ RUN apt-get -q -y update && \
     qml6-module-qtquick-window \
     qml6-module-qtquick-controls \
     qml6-module-qtquick-layouts \
-    qml6-module-qtwayland-compositor \
     qml6-module-qtquick-templates \
+    qml6-module-qtwayland-compositor \
+    libqt6opengl6 \
     libqt6svg6 \
     libqt6svg6-dev \
-    gpiod \
+    libqt6core5compat6 \
+    libqt6core5compat6-dev \
+    qml6-module-qt5compat-graphicaleffects \
+    qml6-module-qtquick-shapes \
     && \
     apt-get clean && apt-get autoremove && \
     rm -rf /var/lib/apt/lists/*

software/dimos/src/CMakeLists.txt

@@ -1,67 +1,54 @@
 # FROM THE PARENT SCOPE, WE INHERIT
 # - EXECUTABLE_NAME
 include(find_qt_libs.cmake) # we need to do this super early because this provides Qt CMake functions
-set(CMAKE_AUTOUIC OFF)
+set(CMAKE_AUTOUIC ON)
 set(CMAKE_AUTOMOC ON)
 set(CMAKE_AUTORCC ON)
 # define sources
-set(UI_SOURCES main.cpp assets/resources.qrc)
-file(GLOB IO_INC "${CMAKE_CURRENT_SOURCE_DIR}/io/*.h")
-file(GLOB SHARED_FILES "${CMAKE_CURRENT_SOURCE_DIR}/shared/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/shared/*.cpp")
-file(GLOB TASKS_FILES "${CMAKE_CURRENT_SOURCE_DIR}/tasks/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/tasks/*.cpp")
-if("${TARGET}" STREQUAL "deploy")
+set(UI_SOURCES main.cpp setup.cpp assets/resources.qrc)
+file(GLOB SHARED_FILES "${CMAKE_CURRENT_SOURCE_DIR}/shared/*.cpp")
+file(GLOB TASKS_FILES "${CMAKE_CURRENT_SOURCE_DIR}/tasks/*.cpp")
+if ("${TARGET}" STREQUAL "deploy")
     file(GLOB_RECURSE IO_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/io/*.cpp")
 elseif ("${TARGET}" STREQUAL "dev")
     file(GLOB_RECURSE IO_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/dev_io/*.cpp")
-endif()
-set(SOURCES ${UI_SOURCES} ${IO_SOURCES} ${IO_INC} ${SHARED_FILES} ${TASKS_FILES})
+endif ()
+# Append to IO_SOURCES
+list(APPEND IO_SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/io/KeyTranslator.cpp")
+set(SOURCES ${UI_SOURCES} ${IO_SOURCES} ${SHARED_FILES} ${TASKS_FILES})
 
 # For more information, see https://doc.qt.io/qt-6/qt-add-executable.html#target-creation
 qt_add_executable(${EXECUTABLE_NAME} ${SOURCES})
 # include directories
-target_include_directories(${EXECUTABLE_NAME} PRIVATE shared io assets tasks)
+target_include_directories(${EXECUTABLE_NAME} PRIVATE shared io dev_io assets tasks .)
 # link libraries
 include(find_libs.cmake)
 target_link_libraries(${EXECUTABLE_NAME} PRIVATE ${REQUIRED_LIBRARIES})
 # to tell which configuration it is from macros
-target_compile_definitions(${EXECUTABLE_NAME} PUBLIC "USING_${EXECUTABLE_NAME}") # todo change to using_target_dimos
+target_compile_definitions(${EXECUTABLE_NAME} PUBLIC "USING_TARGET_${TARGET}")
+target_compile_definitions(${EXECUTABLE_NAME} PRIVATE -DQT_DEBUG -DQT_MESSAGELOGCONTEXT) # W mans https://stackoverflow.com/a/43549795/6833423
+if(${TARGET} STREQUAL dev)
+    target_compile_definitions(${EXECUTABLE_NAME} PRIVATE QT_QML_DEBUG)
+endif()
 # QML
 set_target_properties(${EXECUTABLE_NAME} PROPERTIES AUTOMOC ON AUTORCC ON)
 qt_add_qml_module(${EXECUTABLE_NAME}
-    URI "MainWindow"
-    VERSION 1.0
-    QML_FILES ui/MainWindow.qml
+        URI "DimosMain"
+        VERSION 1.0
+        QML_FILES ui/MainWindow.qml
 )
-#qt_query_qml_module(
-#    ${EXECUTABLE_NAME}
-#    URI uri_var
-#    VERSION version_var
-#    PLUGIN_TARGET plugin_target_var
-#    TARGET_PATH target_path_var
-#    MODULE_RESOURCE_PATH module_resource_path_var
-#    QMLDIR qmldir_var
-#    TYPEINFO typeinfo_var
-#    QML_FILES qml_files_var
-#    QML_FILES_DEPLOY_PATHS qml_files_deploy_paths_var
-#    QML_FILES_PREFIX_OVERRIDES qml_files_prefix_overrides_var
-#    RESOURCES resources_var
-#    RESOURCES_DEPLOY_PATHS resources_deploy_paths_var
-#    RESOURCES_PREFIX_OVERRIDES resources_prefix_overrides_var
-#)
-#
-#message(
-#"URI: ${uri_var}
-#TARGET_PATH: ${target_path_var}
-#MODULE_RESOURCE_PATH: ${module_resource_path_var}
-#QMLDIR: ${qmldir_var}
-#TYPEINFO: ${typeinfo_var}
-#QML_FILES: ${qml_files_var}
-#QML_FILES_DEPLOY_PATHS: ${qml_files_deploy_paths_var}"
-#)
 # add qml modules
 add_subdirectory(ui)
-target_link_libraries(${EXECUTABLE_NAME} PRIVATE DimosConstantsplugin Switcherplugin Pagesplugin Squircleplugin)
-target_compile_definitions(DimosConstants PUBLIC "USING_${EXECUTABLE_NAME}") # L QML compiler
+target_link_libraries(${EXECUTABLE_NAME} PUBLIC
+        DimosConstantsplugin
+        Switcherplugin
+        Pagesplugin
+        Componentsplugin
+        DimSwitchesplugin
+        CanQMLplugin
+)
+target_compile_definitions(DimosConstants PUBLIC "USING_TARGET_${TARGET}") # L QML compiler
+target_link_libraries(CanQML PUBLIC dimos_can)
 
 # Qt for iOS sets MACOSX_BUNDLE_GUI_IDENTIFIER automatically since Qt 6.1.
 # If you are developing for iOS or macOS you should consider setting an

software/dimos/src/dev_io/can.cpp

@@ -1,25 +1,24 @@
-#include "can.h"
-#include <iostream>
-#include <thread>
-#include <chrono>
+#include <qlogging.h>
 
-using std::cout, std::endl;
+#include "can.h"
+#include "dev_io_utils.h"
 
 Result<std::monostate, CanConnectionError> Can_Init()
 {
-    cout << "Can Initialized" << endl;
+    qInfo("Can Initialized");
     return std::monostate{};
 }
 
 Result<JsonCanMsg, CanReadError> Can_Read()
 {
-    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
-    cout << "Can Read Requested\n";
+    if (const WaitDelegateResult res = wait_delegate_thread(); res == WaitDelegateResult::INTERRUPTED)
+        return CanReadError::Timeout;
+    //    qInfo("Can Read Requested");
     return JsonCanMsg{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
 }
 
 Result<std::monostate, CanWriteError> Can_Write(const JsonCanMsg *msg)
 {
-    cout << "Can with id " << msg->std_id << " Written\n";
+    //    qInfo("Can with id %d Written", msg->std_id);
     return std::monostate{};
 }

software/dimos/src/dev_io/dev_io_utils.cpp

@@ -0,0 +1,20 @@
+#include "dev_io_utils.h"
+
+#include <QThread>
+#include <thread>
+
+static constexpr int TIMEOUT_TIME_MSEC = 3000;
+static constexpr int RESPONSE_TIME     = 30;
+static constexpr int CYCLES = TIMEOUT_TIME_MSEC / RESPONSE_TIME; // CYCLES * RESPONSE_TIME = TIMEOUT_TIME_MSEC
+
+WaitDelegateResult wait_delegate_thread()
+{
+    for (int i = 0; i < CYCLES; i++)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(RESPONSE_TIME));
+        if (QThread::currentThread()->isInterruptionRequested())
+            return WaitDelegateResult::INTERRUPTED;
+    }
+
+    return WaitDelegateResult::TIMEOUT;
+}

software/dimos/src/dev_io/dev_io_utils.h

@@ -0,0 +1,9 @@
+#pragma once
+
+enum class WaitDelegateResult
+{
+    TIMEOUT,
+    INTERRUPTED
+};
+
+[[nodiscard]] WaitDelegateResult wait_delegate_thread();