Hv iox refactor

.clang-format

@@ -90,10 +90,6 @@ PenaltyBreakString: 1000
 PenaltyExcessCharacter: 1000000
 PenaltyReturnTypeOnItsOwnLine: 60
 PointerAlignment: Left
-RawStringFormats: 
-  - Delimiter:       pb
-    Language:        TextProto
-    BasedOnStyle:    google
 ReflowComments:  true
 SortIncludes:    true
 SortUsingDeclarations: true

.gitignore

@@ -267,3 +267,6 @@ cmake-build-debug/
 
 # Autocoder Python
 *.pyc
+
+# c compile json
+compile_commands.json

Test/CMakeLists.txt

@@ -3,6 +3,8 @@ project(testlib VERSION 1.0
                 LANGUAGES CXX)
 
 # Define sources
+set(dependencies example/Test_GTest.cpp)
+set(dependencies components/HV_Iox/Test_HV_Iox.cpp)
 set(dependencies example/Test_GTest.cpp
                  run_profiles/Test_load_software_parameters.cpp)
 

Test/components/HV_Iox/Test_HV_Iox.cpp

@@ -0,0 +1,77 @@
+// Author: Marco
+#include <gtest/gtest.h>
+#include <hv_iox.h>
+
+TEST(HV_IOX, VerifyHVIox)
+{
+    HVIox hv_iox;
+    hv_iox.init(true);
+    EXPECT_EQ(hv_iox.setupIox(), 0);
+// The expected output of the functions is generic
+// when not connected to the I2C bus
+#ifdef NOI2C
+    // expected to equal 1
+    EXPECT_EQ(hv_iox.isHVIndicatorEnabled(), 1);
+// The expected output of the functions is
+// != -1 because the function returns
+// the getState method when connected
+// to the I2C bus
+#else
+    // expected to not equal -1
+    hv_iox.setMCUHVEnabled(false);
+    EXPECT_NE(hv_iox.isHVIndicatorEnabled(), -1);
+#endif
+}
+
+TEST(HV_IOX, HVIOX_MCU_LATCH)
+{
+    HVIox hv_iox;
+    hv_iox.init(true);
+#ifdef NOI2C
+    EXPECT_EQ(hv_iox.setMCULatch(true), 0);
+    EXPECT_EQ(hv_iox.setMCULatch(false), 0);
+#else
+    EXPECT_EQ(hv_iox.setMCULatch(true), 1);
+    EXPECT_EQ(hv_iox.setMCULatch(false), 1);
+#endif
+}
+
+TEST(HV_IOX, HVIOX_STATES)
+{
+    HVIox hv_iox;
+    hv_iox.init(true);
+#ifdef NOI2C
+    EXPECT_EQ(hv_iox.getBMSMultiIn(), 1);
+    EXPECT_EQ(hv_iox.getIMDStatus(), 1);
+    EXPECT_EQ(hv_iox.getINRTStatus(), 1);
+    EXPECT_EQ(hv_iox.isHVEnabled(), 0);
+    EXPECT_EQ(hv_iox.getPsStatus(), 1);
+    EXPECT_EQ(hv_iox.getBMSStatus(), 1);
+    EXPECT_EQ(hv_iox.isEStopOn(), 0);
+    EXPECT_EQ(hv_iox.getMasterSwFeedback(), 1);
+#else
+    EXPECT_NE(hv_iox.getBMSMultiIn(), -1);
+    EXPECT_EQ(hv_iox.getIMDStatus(), true);
+    EXPECT_NE(hv_iox.getINRTStatus(), -1);
+    EXPECT_NE(hv_iox.isHVEnabled(), -1);
+    EXPECT_NE(hv_iox.getPsStatus(), -1);
+    EXPECT_NE(hv_iox.getBMSStatus(), -1);
+    EXPECT_NE(hv_iox.isEStopOn(), -1);
+    EXPECT_NE(hv_iox.getMasterSwFeedback(), -1);
+#endif
+}
+
+TEST(HV_IOX, HVIOX_MCUHV)
+{
+    HVIox hv_iox;
+    hv_iox.init(true);
+#ifdef NOI2C
+    EXPECT_EQ(hv_iox.setMCUHVEnabled(true), 1);
+    EXPECT_EQ(hv_iox.isMCUHVEnabled(), 1);
+    EXPECT_EQ(hv_iox.emergencyDisableMCU(), 1);
+#else
+    EXPECT_NE(hv_iox.setMCUHVEnabled(true), -1);
+    EXPECT_NE(hv_iox.isMCUHVEnabled(), -1);
+    EXPECT_NE(hv_iox.emergencyDisableMCU(), -1);
+#endif
+}

Test/run_all_tests.cpp

@@ -1,11 +1,15 @@
 #include "gtest_globals.h"
 #include <gtest/gtest.h>
 
-char executable_path[128];
+extern "C" {
+#include <data.h>
+}
 
+char executable_path[128];
 // Run all GTest Tests
 int main(int argc, char** argv)
 {
+    initData();
     // Set executable path
     strcpy(executable_path, argv[0]);
 

autocoding/templates/TelemetryLoop.template.cpp

@@ -12,9 +12,8 @@
 #include <unistd.h>
 #include <vector>
 
-extern "C" {
-#include <data.h>
 #include <hv_iox.h>
+extern "C" {
 #include <lv_iox.h>
 }
 
@@ -96,7 +95,7 @@ void* TelemetryLoop(void* arg)
             addToBuffer(&buffer, &time);
 
             // Write 1 byte IMD status
-            uint8_t imdStatus = getIMDStatus();
+            uint8_t imdStatus = hv_iox.getIMDStatus();
             addToBuffer(&buffer, &imdStatus);
 
             // Write 4 byte primary brake
@@ -139,4 +138,4 @@ void* TelemetryLoop(void* arg)
         cerr << e.what() << endl;
         exit(1);
     }
-}
+}

embedded/app/CMakeLists.txt

@@ -7,14 +7,14 @@ project(applib VERSION 1.0
 #and it's SUPER discouraged.
 set(dependecies src/bms_fault_checking.c
                 src/nav.c
-                src/state_machine.c
+                src/state_machine.cpp
                 src/init.c
                 src/load_software_parameters.c
                 src/pressure_fault_checking.c
-                src/states.c
-                src/motor.c
+                src/states.cpp
+                src/motor.cpp
                 src/rms_fault_checking.c
-                src/transitions.c)
+                src/transitions.cpp)
 
 #required libraries for the main pod executables
 set(libraries middleware 

embedded/app/main/badgerloop.cpp

@@ -1,42 +1,45 @@
 // Includes
 #include "HVTCPSocket.h"
 #include "data_dump.h"
+#include "hv_iox.h"
+#include "motor.h"
+#include "state_machine.h"
 #include <TelemetryLoop.h>
 #include <signal.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
+#include "hv_iox.h"
+#include "state_machine.h"
+#include "motor.h"
 
 // Temp
 #include <chrono>
 #include <ctime>
 #include <iostream>
 
-extern "C" 
-{
-    #include "bbgpio.h"
-    #include "connStat.h"
-    #include <signal.h>
-    #include <rms.h>
-    #include "motor.h"
-    #include "hv_iox.h"
-    #include "motor.h"
-    #include "proc_iox.h"
-    #include "data.h"
-    #include "can_devices.h"
-    #include "state_machine.h"
-    #include "NCD9830DBR2G.h"
-    #include "nav.h"
-
-    // Software Parameter Loading
-    #include "load_software_parameters.h"
-    #include "software_parameters.h"
+extern "C" {
+#include "NCD9830DBR2G.h"
+#include "bbgpio.h"
+#include "can_devices.h"
+#include "connStat.h"
+#include "data.h"
+#include "nav.h"
+#include "proc_iox.h"
+#include <rms.h>
+#include <signal.h>
+
+// Software Parameter Loading
+#include "load_software_parameters.h"
+#include "software_parameters.h"
 }
 
+HVIox hv_iox;
+
 void emergQuitter(int sig, siginfo_t* inf, void* nul)
 {
     printf("shutdown\n");
-    setMCUHVEnabled(false);
+    hv_iox.setMCUHVEnabled(false);
     rmsCmdNoTorque();
     sleep(1);
     rmsDischarge();
@@ -67,7 +70,7 @@ int init(char* directory)
         success_status = 1;
     }
 
-    if (initHVIox(true)) {
+    if (hv_iox.init(true)) {
         success_status = 1;
     }
 
@@ -85,7 +88,7 @@ int init(char* directory)
 
     initNav();
 
-	struct sigaction sig;
+    struct sigaction sig;
     sig.sa_sigaction = emergQuitter;
     sigaction(SIGINT, &sig, NULL);