Dimos Init (#1065)

### Summary First implementation of Dimos, as per spec'd by [SW-39](https://ubcformulaelectric.atlassian.net/browse/SW-39). ### TODO Once merged, send message to software channel on slack that `DPLATFORM=firmware` and `DTARGET` is old `DPLATFORM` - Use -DPLATFORM to specify the platform you are building to, whether `firmware` or `dimos` - Use -DTARGET to specify the target you are building to, between `dev`, `test`, `deploy` in dimos, and `arm` and `x86` in firmware. ### Changelist - [x] Dimos QT Build - [x] JSONCAN integration - [x] Try to move project to lower files (move things out of the top level) - [x] CMake better OS condition - [x] Refactor matrix upwards ### Testing Done - Local testing on Windows, Mac, Linux - Testing on CI servers ### 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-39]: https://ubcformulaelectric.atlassian.net/browse/SW-39?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ
UBCFormulaElectric · Nov 11, 2023 · 1764c77 · 1764c77
1 parent 8b0b41b
commit 1764c77
Show file tree

Hide file tree

Showing 52 changed files with 1,164 additions and 386 deletions.
diff --git a/.github/actions/build_binary/action.yml b/.github/actions/build_binary/action.yml
@@ -0,0 +1,28 @@
+name: Build Firmware Binaries Action
+description: Builds the bianry for a given board
+inputs:
+  board:
+    description: The board for which to build a binary
+    required: true
+  build_dir:
+    required: false
+    description: The directory in which to build the binary
+    default: build_fw_deploy
+
+runs:
+  using: "composite"
+  steps:
+    # Fix to ensure that commands like git status work in child directories
+    # for gitpython in git_commit_info
+    - name: Setup git
+      shell: bash
+      run: git config --global --add safe.directory $(realpath .)
+
+    # xvfb-run is required to prefix any commands that run STM32CubeMX
+    # It fakes out a display, since STM32CubeMX throws an error if it doesn't detect a display
+    # Don't use Pipenv for Cmake since python packages are installed system-wide in the container
+    - name: Build
+      shell: bash
+      run: |
+        cmake -B ${{ inputs.build_dir }} -DPLATFORM=firmware -DTARGET=deploy -DHANDLE_DEPS=OFF
+        xvfb-run make --directory=${{ inputs.build_dir }} -j`nproc` ${{ inputs.board }}.elf
diff --git a/.github/actions/push_release/action.yml b/.github/actions/push_release/action.yml
@@ -14,10 +14,9 @@ inputs:
     description: The body of the release
     required: true
   latest:
-    description: Determine if this commit 
+    description: Determine if this release should be marked as latest
     required: false
-    type: boolean
-    default: false
+    default: 'false'
 
 runs:
   using: "composite"

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -3,7 +3,7 @@ on:
   pull_request:
     paths-ignore:
       - 'software/**'
-  
+
 jobs:
   clang-format:
     name: Check C Formatting
@@ -29,11 +29,11 @@ jobs:
 
       - name: Check for differences
         run: git --no-pager diff --color --exit-code
-        
+
   codegen:
     name: Check CubeMX Code Gen
     runs-on: ubuntu-22.04
-    needs: [clang-format]
+    needs: [ clang-format ]
     strategy:
       fail-fast: false
       matrix:
@@ -87,9 +87,30 @@ jobs:
   build-firmware-thruna:
     needs: [ clang-format ]
     name: Build Firmware Binaries
-    uses: ./.github/workflows/build.yml # https://github.blog/changelog/2022-01-25-github-actions-reusable-workflows-can-be-referenced-locally/ God is good
-    secrets:
-      docker_token: ${{ secrets.DOCKER_TOKEN }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        board:
+          - FSM
+          - PDM
+          - BMS
+          - DCM
+          - DIM
+          - f4dev
+    container:
+      image: ubcformulaelectric/environment:latest
+      credentials:
+        username: ubcformulaelectric
+        password: ${{ secrets.docker_token }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - uses: ./.github/actions/build_binary
+        with:
+          board: ${{ matrix.board }}
 
   test-thruna:
     needs: [ clang-format ]
@@ -128,7 +149,7 @@ jobs:
 
       - name: Build
         run: |
-          cmake -B $BUILD_DIR -DPLATFORM=x86 -DHANDLE_DEPS=OFF
+          cmake -B $BUILD_DIR -DPLATFORM=firmware -DTARGET=test -DHANDLE_DEPS=OFF
           make --directory=$BUILD_DIR -j`nproc` ${{ matrix.board }}_test
 
       - name: Run tests
@@ -162,7 +183,7 @@ jobs:
 
       - name: Build
         run: |
-          cmake -B $BUILD_DIR -DPLATFORM=x86 -DHANDLE_DEPS=OFF
+          cmake -B $BUILD_DIR -DPLATFORM=firmware -DTARGET=test -DHANDLE_DEPS=OFF
           make --directory=$BUILD_DIR -j`nproc` shared_test
 
       - name: Run tests
@@ -188,15 +209,15 @@ jobs:
       # for gitpython in git_commit_info
       - name: Setup git
         run: git config --global --add safe.directory $(realpath .)
-        
+
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
           submodules: recursive
 
       - name: Build
         run: |
-          cmake -B $BUILD_DIR -DPLATFORM=x86 -DNO_VENV=ON -DHANDLE_DEPS=OFF
+          cmake -B $BUILD_DIR -DPLATFORM=firmware -DTARGET=test -DNO_VENV=ON -DHANDLE_DEPS=OFF
           make --directory=$BUILD_DIR -j`nproc` fakegen_test
 
       - name: Run tests

diff --git a/.github/workflows/master_cd.yml b/.github/workflows/master_cd.yml
@@ -10,11 +10,37 @@ jobs:
   # Build DBC and Binaries
   build:
     name: Build Firmware Binaries
-    uses: ./.github/workflows/build.yml
-    secrets:
-      docker_token: ${{secrets.DOCKER_TOKEN}}
-    with:
-      upload_artifact: true
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        board:
+          - FSM
+          - PDM
+          - BMS
+          - DCM
+          - DIM
+          - f4dev
+    container:
+      image: ubcformulaelectric/environment:latest
+      credentials:
+        username: ubcformulaelectric
+        password: ${{ secrets.docker_token }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - uses: ./.github/actions/build_binary
+        with:
+          board: ${{ matrix.board }}
+      # Uploads .elf binary to Github Actions workflow
+      - name: Save built artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ matrix.board }}.elf
+          path: ${{ env.BUILD_DIR }}/firmware/thruna/${{ matrix.board }}/${{ inputs.board }}.elf
+
   generate-dbc:
     name: Call DBC Generation
     uses: ./.github/workflows/dbc-gen.yml

diff --git a/.gitignore b/.gitignore
@@ -129,8 +129,11 @@ hooksl
 can_bus/**/*.dbc
 
 # CMake build directories
-build_arm
-build_x86
+build_fw_deploy
+build_fw_test
+build_dimos_deploy
+build_dimos_dev
+build_dimos_test
 
 environment/bin
 CMakeUserPresets.json

diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml
@@ -1,17 +1,19 @@
 platform:
     default: arm
     choices:
-        arm: 
-            short: Embedded
+        firmware_deploy:
+            short: Firmware Deploy
             settings:
-                PLATFORM: arm
+                PLATFORM: firmware
+                TARGET: deploy
             env:
-                PLATFORM: arm
+                BUILD_DIR: build_fw_deploy
             buildType: Debug
-        x86: 
-            short: Tests
+        firmware_test:
+            short: Firmware Tests
             settings:
-                PLATFORM: x86
+                PLATFORM: firmware
+                TARGET: test
             env:
-                PLATFORM: x86
+                BUILD_DIR: build_fw_test
             buildType: Debug
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -4,7 +4,7 @@
     {
       "name": "Debug Embedded: BMS",
       "cwd": "${workspaceRoot}",
-      "executable": "build_arm/firmware/thruna/BMS/BMS.elf",
+      "executable": "build_fw_deploy/firmware/thruna/BMS/BMS.elf",
       "request": "launch",
       "type": "cortex-debug",
       "servertype": "openocd",
@@ -18,7 +18,7 @@
     {
       "name": "Debug Embedded: DCM",
       "cwd": "${workspaceRoot}",
-      "executable": "build_arm/firmware/thruna/DCM/DCM.elf",
+      "executable": "build_fw_deploy/firmware/thruna/DCM/DCM.elf",
       "request": "launch",
       "type": "cortex-debug",
       "servertype": "openocd",
@@ -32,7 +32,7 @@
     {
       "name": "Debug Embedded: FSM",
       "cwd": "${workspaceRoot}",
-      "executable": "build_arm/firmware/thruna/FSM/FSM.elf",
+      "executable": "build_fw_deploy/firmware/thruna/FSM/FSM.elf",
       "request": "launch",
       "type": "cortex-debug",
       "servertype": "openocd",
@@ -46,7 +46,7 @@
     {
       "name": "Debug Embedded: PDM",
       "cwd": "${workspaceRoot}",
-      "executable": "build_arm/firmware/thruna/PDM/PDM.elf",
+      "executable": "build_fw_deploy/firmware/thruna/PDM/PDM.elf",
       "request": "launch",
       "type": "cortex-debug",
       "servertype": "openocd",
@@ -60,7 +60,7 @@
     {
       "name": "Debug Embedded: DIM",
       "cwd": "${workspaceRoot}",
-      "executable": "build_arm/firmware/thruna/DIM/DIM.elf",
+      "executable": "build_fw_deploy/firmware/thruna/DIM/DIM.elf",
       "request": "launch",
       "type": "cortex-debug",
       "servertype": "openocd",
@@ -83,7 +83,7 @@
       },
       "osx": {
         "MIMode": "lldb"
-      },
+      }
     },
     {
       "name": "Debug Tests: DCM",
@@ -97,7 +97,7 @@
       },
       "osx": {
         "MIMode": "lldb"
-      },
+      }
     },
     {
       "name": "Debug Tests: FSM",
@@ -111,7 +111,7 @@
       },
       "osx": {
         "MIMode": "lldb"
-      },
+      }
     },
     {
       "name": "Debug Tests: PDM",
@@ -125,7 +125,7 @@
       },
       "osx": {
         "MIMode": "lldb"
-      },
+      }
     },
     {
       "name": "Debug Tests: DIM",
@@ -139,7 +139,7 @@
       },
       "osx": {
         "MIMode": "lldb"
-      },
+      }
     },
     {
       "name": "Debug Tests: Shared",
@@ -153,7 +153,7 @@
       },
       "osx": {
         "MIMode": "lldb"
-      },
-    },
+      }
+    }
   ]
 }
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -7,7 +7,7 @@
 			"url": "/can_bus/json/schema_tx.json"
 		}
 	],
-	"cmake.buildDirectory": "${workspaceFolder}/build_${env:PLATFORM}",
+	"cmake.buildDirectory": "${workspaceFolder}/${env:BUILD_DIR}",
 	"cmake.configureOnEdit": false,
 	"cmake.configureOnOpen": true
 }