chore(stacker): create project

.github/workflows/stacker.yaml

@@ -0,0 +1,97 @@
+name: 'Tempdeck Gen3 build/test'
+on:
+  pull_request:
+    paths:
+      - 'stm32-modules/stacker/**/*'
+      - 'stm32-modules/common/**/*'
+      - 'stm32-modules/include/common/**/*'
+      - 'stm32-modules/include/stacker/**/*'
+      - 'cmake/**/*'
+      - 'CMakeLists.txt'
+      - 'stm32-modules/CMakeLists.txt'
+      - 'CMakePresets.json'
+      - '.clang-format'
+      - '.clang-tidy'
+      - 'cpp-utils/**/*'
+    paths_ignore:
+      - 'cmake/Arduino*'
+  push:
+    paths:
+      - 'stm32-modules/stacker/**/*'
+      - 'stm32-modules/common/**/*'
+      - 'stm32-modules/include/common/**/*'
+      - 'stm32-modules/include/stacker/**/*'
+      - 'cmake/**/*'
+      - 'CMakeLists.txt'
+      - 'stm32-modules/CMakeLists.txt'
+      - 'CMakePresets.json'
+      - '.clang-format'
+      - '.clang-tidy'
+      - '.github/workflows/stacker.yaml'
+    paths_ignore:
+      - 'cmake/Arduino*'
+    branches:
+      - '*'
+    tags:
+      - 'stacker@*'
+  workflow_dispatch:
+
+
+defaults:
+  run:
+    shell: bash
+
+
+jobs:
+  cross-compile-check:
+    name: 'Cross-Compile/Check'
+    runs-on: 'ubuntu-20.04'
+    timeout-minutes: 10
+    steps:
+      - uses: 'actions/checkout@v2'
+        with:
+          fetch-depth: 0
+      - uses: 'actions/cache@v2'
+        with:
+          key: stm32-cross-${{ secrets.MODULES_STM32_CACHE_VERSION }}-${{ hashFiles('cmake/*') }}
+          restore-keys: stm32-cross-${{ secrets.MODULES_STM32_CACHE_VERSION }}-
+          path: './stm32-tools'
+      - name: 'Configure'
+        run: cmake --preset=stm32-cross .
+      - name: 'Format'
+        run: cmake --build --preset cross --target stacker-format-ci
+      - name: 'Lint'
+        run: cmake --build --preset cross --target stacker-lint
+      - name: 'Build startup app'
+        run: cmake --build --preset cross --target stacker-startup
+      - name: 'Build'
+        run: cmake --build --preset cross --target stacker-hex
+      - name: 'Build full image'
+        run: cmake --build --preset cross --target stacker-image-hex
+      - name: 'Build full image binary'
+        run: cmake --build --preset cross --target stacker-image-bin
+  host-compile-test:
+    name: 'Host-Compile/Test'
+    runs-on: 'ubuntu-20.04'
+    timeout-minutes: 10
+    env:
+      CC: gcc-10
+      CXX: g++-10
+    steps:
+      - run: |
+          sudo apt update
+          sudo apt install gcc-10 g++-10
+      - uses: 'actions/checkout@v2'
+        with:
+          fetch-depth: 0
+      - uses: 'actions/cache@v2'
+        with:
+          path: './stm32-tools'
+          key: stm32-host-${{ secrets.MODULES_STM32_CACHE_VERSION }}-${{ hashFiles('cmake/*') }}
+          restore-keys: stm32-host-${{ secrets.MODULES_STM32_CACHE_VERSION }}-
+      - name: 'Configure'
+        run: cmake --preset=stm32-host .
+      - name: 'Build Simulator'
+        run: cmake --build --preset host --target stacker-simulator
+      - name: 'Build and Test'
+        run: cmake --build --preset stacker-build-and-test

CMakePresets.json

@@ -78,7 +78,8 @@
             "targets": [
                 "thermocycler-gen2",
                 "heater-shaker",
-                "tempdeck-gen3"
+                "tempdeck-gen3",
+                "stacker"
             ]
         },
         {
@@ -90,7 +91,8 @@
             "targets": [
                 "thermocycler-gen2-build-and-test",
                 "heater-shaker-build-and-test",
-                "tempdeck-gen3-build-and-test"
+                "tempdeck-gen3-build-and-test",
+                "stacker-build-and-test"
             ]
         },
         {
@@ -152,6 +154,26 @@
                 "tempdeck-gen3-debug"
             ]
         },
+        {
+            "name": "stacker-binary",
+            "displayName": "stacker binary",
+            "description": "Build the stacker cross binary",
+            "configurePreset": "stm32-cross",
+            "jobs": 4,
+            "targets": [
+                "stacker"
+            ]
+        },
+        {
+            "name": "stacker-debug",
+            "displayName": "stacker debug",
+            "description": "Build the stacker cross debug",
+            "configurePreset": "stm32-cross",
+            "jobs": 4,
+            "targets": [
+                "stacker-debug"
+            ]
+        },
         {
             "name": "lint",
             "displayName": "lint all",
@@ -162,7 +184,8 @@
                 "heater-shaker-lint",
                 "common-lint",
                 "thermocycler-gen2-lint",
-                "tempdeck-gen3-lint"
+                "tempdeck-gen3-lint",
+                "stacker-lint"
             ]
         },
         {
@@ -175,7 +198,8 @@
                 "heater-shaker-format",
                 "common-format",
                 "thermocycler-gen2-format",
-                "tempdeck-gen3-format"
+                "tempdeck-gen3-format",
+                "stacker-format"
             ]
         },
         {
@@ -188,7 +212,8 @@
                 "heater-shaker-format",
                 "common-format",
                 "thermocycler-gen2-format",
-                "tempdeck-gen3-format"
+                "tempdeck-gen3-format",
+                "stacker-format"
             ]
         },
         {
@@ -200,7 +225,8 @@
             "targets": [
                 "heater-shaker-simulator",
                 "thermocycler-gen2-simulator",
-                "tempdeck-gen3-simulator"
+                "tempdeck-gen3-simulator",
+                "stacker-simulator"
             ]
         },
         {
@@ -212,7 +238,8 @@
             "targets": [
                 "heater-shaker-simulator",
                 "thermocycler-gen2-simulator",
-                "tempdeck-gen3-simulator"
+                "tempdeck-gen3-simulator",
+                "stacker-simulator"
             ]
         },
         {
@@ -225,7 +252,8 @@
                 "heater-shaker-build-and-test",
                 "common-build-and-test",
                 "thermocycler-gen2-build-and-test",
-                "tempdeck-gen3-build-and-test"
+                "tempdeck-gen3-build-and-test",
+                "stacker-build-and-test"
             ]
         },
         {
@@ -258,6 +286,16 @@
                 "tempdeck-gen3-build-and-test"
             ]
         },
+        {
+            "name": "stacker-tests",
+            "displayName": "tests",
+            "description": "Runs build-and-test target for stacker",
+            "configurePreset": "stm32-host",
+            "jobs": 4,
+            "targets": [
+                "stacker-build-and-test"
+            ]
+        },
         {
             "name": "common-tests",
             "displayName": "tests",

stm32-modules/CMakeLists.txt

@@ -36,5 +36,6 @@ add_subdirectory(common)
 add_subdirectory(heater-shaker)
 add_subdirectory(thermocycler-gen2)
 add_subdirectory(tempdeck-gen3)
+add_subdirectory(stacker)
 
 coverage_evaluate()

stm32-modules/include/stacker/firmware/usb_hardware.h

@@ -0,0 +1,73 @@
+/**
+ * @file usb_hardware.h
+ * @brief Header with forward definitions of functions
+ * for firmware-specific USB control code.
+ */
+
+#ifndef _USB_HARDWARE_C_
+#define _USB_HARDWARE_C_
+
+#ifdef __cplusplus
+extern "C" {
+#endif  // __cplusplus
+
+#include <stdint.h>
+
+/**
+ * @brief Function pointer type to be invoked when a new
+ * packet is received.
+ * @details
+ * - First parameter contains a pointer to the buffer of
+ * data returned
+ * - Second parameter contains the length of the data
+ * returned
+ * - The return value should be a pointer to the buffer
+ * where the next packet of RX data shall be stored
+ */
+typedef uint8_t *(*usb_rx_callback_t)(uint8_t *, uint32_t *);
+
+/**
+ * @brief Function pointer used for specifying callback
+ * for CDC initialization
+ * @details
+ * - Should return a pointer to a buffer to store RX packets
+ */
+typedef uint8_t *(*usb_cdc_init_callback_t)();
+
+/**
+ * @brief Function pointer used for specifying callback
+ * for CDC deinitialization
+ */
+typedef void (*usb_cdc_deinit_callback_t)();
+
+/**
+ * @brief Initializes the USB hardware on the system. Provides function
+ * pointers to the C code that will be invoked upon certain USB CDC events.
+ * @param[in] rx_cb The function to call when a USB packet arrives
+ * @param[in] cdc_init_cb Function to call when initializing CDC
+ * @param[in] cdc_deinit_cb Function to call when deinitializing CDC
+ */
+void usb_hw_init(usb_rx_callback_t rx_cb, usb_cdc_init_callback_t cdc_init_cb,
+                 usb_cdc_deinit_callback_t cdc_deinit_cb);
+
+/**
+ * @brief Starts USB CDC on the system
+ */
+void usb_hw_start();
+
+/**
+ * @brief Stop USB
+ */
+void usb_hw_stop();
+
+/**
+ * @brief Send a packet over USB CDC
+ * @param[in] buf The buffer to send
+ * @param[in] len The length of the buffer to be sent
+ */
+void usb_hw_send(uint8_t *buf, uint16_t len);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif  // __cplusplus
+#endif  /* _USB_HARDWARE_C_ */

stm32-modules/include/stacker/stacker/errors.hpp

@@ -0,0 +1,27 @@
+#pragma once
+#include <charconv>
+#include <cstdint>
+
+#include "core/utility.hpp"
+
+namespace errors {
+
+enum class ErrorCode {
+    // 0xx - General && comms
+    NO_ERROR = 0,
+    USB_TX_OVERRUN = 1,
+    INTERNAL_QUEUE_FULL = 2,
+    UNHANDLED_GCODE = 3,
+    GCODE_CACHE_FULL = 4,
+    BAD_MESSAGE_ACKNOWLEDGEMENT = 5,
+};
+
+auto errorstring(ErrorCode code) -> const char*;
+
+template <typename Input, typename Limit>
+requires std::forward_iterator<Input> && std::sized_sentinel_for<Limit, Input>
+constexpr auto write_into(Input start, Limit end, ErrorCode code) -> Input {
+    const char* str = errorstring(code);
+    return write_string_to_iterpair(start, end, str);
+}
+};  // namespace errors

stm32-modules/stacker/CMakeLists.txt

@@ -0,0 +1,37 @@
+#FLEX Stacker
+
+# This variable defines the name of the target for this subfolder.
+set(TARGET_MODULE_NAME "stacker")
+
+add_subdirectory(src)
+
+if (${CMAKE_CROSSCOMPILING})
+    add_subdirectory(firmware)
+else()
+    add_subdirectory(tests)
+    add_subdirectory(simulator)
+endif()
+
+file(GLOB_RECURSE ${TARGET_MODULE_NAME}_SOURCES_FOR_FORMAT
+        ./*.cpp ./*.hpp ./*.h
+        ../include/${TARGET_MODULE_NAME}/*.hpp ../include/${TARGET_MODULE_NAME}/*.h)
+list(FILTER ${TARGET_MODULE_NAME}_SOURCES_FOR_FORMAT EXCLUDE REGEX ".*MCSDK.*")
+
+# Targets for formatting. These are here rather than in individual target CMakeLists (e.g.
+# the ones in tests/ or firmware/) because they don't have semantic reasoning involved and
+# can therefore operate on file globs, unlike lint/static analysis
+
+# Target for use during dev - edits files
+add_custom_target(
+        ${TARGET_MODULE_NAME}-format
+        ALL
+        COMMENT "Formatting code"
+        COMMAND ${Clang_CLANGFORMAT_EXECUTABLE} -style=file -i ${${TARGET_MODULE_NAME}_SOURCES_FOR_FORMAT}
+)
+
+# Target for use in ci - warnings are errors, doesn't edit files
+add_custom_target(
+        ${TARGET_MODULE_NAME}-format-ci
+        COMMENT "Checking format"
+        COMMAND ${Clang_CLANGFORMAT_EXECUTABLE} -style=file -Werror --ferror-limit=0 -n ${${TARGET_MODULE_NAME}_SOURCES_FOR_FORMAT}
+)