Simulation infra (#15)

* Simulation infra and can stuff

* bootloader and simulation

SConstruct

@@ -163,17 +163,13 @@ elif COMMAND == "new":
     SConscript('scons/new_target.scons', exports='VARS')
 
 ###########################################################
-# hil command
+# HIL command
 ###########################################################
 elif COMMAND == "hil":
-    print(TEST_FILE)
     if not TEST_FILE:
-        #Error handling
         pass
-
     SConscript('scons/pytest.scons', exports='VARS')
 
-
 ###########################################################
 # Clean
 ###########################################################

autogen/can_autogen.py

@@ -1,6 +1,6 @@
 ## @file   can_autogen.py
 #  @date    2024-12-21
-#  @author  Midnight Sun Team #24 - MSXVI
+#  @author  Aryan Kashem
 #  @brief   YAML parsing and validation module for CAN message configurations
 #
 #  @details This module provides functionality to parse and validate CAN message
@@ -94,6 +94,12 @@ def get_data(args):
     """
     boards = []
     messages = []
+    message_count = {
+        "fast_cycle" : 0,
+        "medium_cycle" : 0,
+        "slow_cycle" : 0,
+        "total" : 0,
+    }
 
     for yaml_path in Path("can/boards").glob("*.yaml"):
         # read yaml
@@ -134,9 +140,18 @@ def get_data(args):
                 "receiver": message["target"],
             })
 
+            # Update message counter
+            if message["cycle"] == "fast":
+                message_count["fast_cycle"] += 1
+            elif message["cycle"] == "medium":
+                message_count["medium_cycle"] += 1
+            elif message["cycle"] == "slow":
+                message_count["slow_cycle"] += 1
+
+            message_count["total"] +=1
+
     project_name = Path(args.output).parent.stem
 
     current_date = datetime.now()
     current_date = current_date.strftime("%Y-%m-%d")
-
-    return {"boards": boards, "messages": messages, "project_name": project_name, "current_date": current_date}
+    return {"boards": boards, "messages": messages, "message_count": message_count, "project_name": project_name, "current_date": current_date}

autogen/templates/project_can/inc/can_codegen.h → autogen/templates/project_can/inc/can_codegen.h.jinja

@@ -31,6 +31,10 @@ extern rx_struct g_rx_struct;
 extern tx_struct g_tx_struct;
 
 void can_tx_all();
+void can_tx_fast_cycle();
+void can_tx_medium_cycle();
+void can_tx_slow_cycle();
+
 void can_rx_all();
 
 /** @} */

autogen/templates/project_can/src/{{project_name}}_rx_all.c.jinja

@@ -53,26 +53,111 @@ void can_rx_all() {
     }
 }
 
-void clear_rx_received() {
+void clear_all_rx_received() {
 {%- for message in messages %}
     g_rx_struct.received_{{message.name}} = false;
 {%- endfor %}
 }
 
-StatusCode check_can_watchdogs() {
+void clear_fast_rx_received() {
+{%- for message in messages %}
+{%- if message.cycle == "fast" %}
+    g_rx_struct.received_{{message.name}} = false;
+{%- endif %}
+{%- endfor %}
+}
+
+void clear_medium_rx_received() {
+{%- for message in messages %}
+{%- if message.cycle == "medium" %}
+    g_rx_struct.received_{{message.name}} = false;
+{%- endif %}
+{%- endfor %}
+}
+
+void clear_slow_rx_received() {
+{%- for message in messages %}
+{%- if message.cycle == "slow" %}
+    g_rx_struct.received_{{message.name}} = false;
+{%- endif %}
+{%- endfor %}
+}
+
+StatusCode check_all_can_watchdogs() {
 {%- for message in messages %}
     {%- if message.receiver[project_name].watchdog != 0 %}
     if (!g_rx_struct.received_{{message.name}}) {
         ++s_{{message.name}}_msg_watchdog.cycles_over;
         if (s_{{message.name}}_msg_watchdog.cycles_over >= s_{{message.name}}_msg_watchdog.max_cycles) {
             LOG_CRITICAL("DID NOT RECEIVE CAN MESSAGE: %u IN MAX CYCLES : %u\n", SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}},
                             s_{{message.name}}_msg_watchdog.max_cycles);
-            s_{{message.name}}_msg_watchdog.missed = 1;
+            s_{{message.name}}_msg_watchdog.missed = true;
         } else {
-            s_{{message.name}}_msg_watchdog.missed = 0;
+            s_{{message.name}}_msg_watchdog.missed = false;
         }
     }
     {%- endif %}
 {%- endfor %}
     return STATUS_CODE_OK;
-}
+}
+
+StatusCode check_fast_can_watchdogs() {
+{%- for message in messages %}
+{%- if message.cycle == "fast" %}
+    {%- if message.receiver[project_name].watchdog != 0 %}
+    if (!g_rx_struct.received_{{message.name}}) {
+        ++s_{{message.name}}_msg_watchdog.cycles_over;
+        if (s_{{message.name}}_msg_watchdog.cycles_over >= s_{{message.name}}_msg_watchdog.max_cycles) {
+            LOG_CRITICAL("DID NOT RECEIVE FAST CYCLE CAN MESSAGE: %u IN MAX CYCLES : %u\n", SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}},
+                            s_{{message.name}}_msg_watchdog.max_cycles);
+            s_{{message.name}}_msg_watchdog.missed = true;
+        } else {
+            s_{{message.name}}_msg_watchdog.missed = false;
+        }
+    }
+    {%- endif %}
+{%- endif %}
+{%- endfor %}
+    return STATUS_CODE_OK;
+}
+
+StatusCode check_medium_can_watchdogs() {
+{%- for message in messages %}
+{%- if message.cycle == "medium" %}
+    {%- if message.receiver[project_name].watchdog != 0 %}
+    if (!g_rx_struct.received_{{message.name}}) {
+        ++s_{{message.name}}_msg_watchdog.cycles_over;
+        if (s_{{message.name}}_msg_watchdog.cycles_over >= s_{{message.name}}_msg_watchdog.max_cycles) {
+            LOG_CRITICAL("DID NOT RECEIVE MEDIUM CYCLE CAN MESSAGE: %u IN MAX CYCLES : %u\n", SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}},
+                            s_{{message.name}}_msg_watchdog.max_cycles);
+            s_{{message.name}}_msg_watchdog.missed = true;
+        } else {
+            s_{{message.name}}_msg_watchdog.missed = false;
+        }
+    }
+    {%- endif %}
+{%- endif %}
+{%- endfor %}
+    return STATUS_CODE_OK;
+}
+
+StatusCode check_slow_can_watchdogs() {
+{%- for message in messages %}
+{%- if message.cycle == "slow" %}
+    {%- if message.receiver[project_name].watchdog != 0 %}
+    if (!g_rx_struct.received_{{message.name}}) {
+        ++s_{{message.name}}_msg_watchdog.cycles_over;
+        if (s_{{message.name}}_msg_watchdog.cycles_over >= s_{{message.name}}_msg_watchdog.max_cycles) {
+            LOG_CRITICAL("DID NOT RECEIVE SLOW CAN MESSAGE: %u IN MAX CYCLES : %u\n", SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}},
+                            s_{{message.name}}_msg_watchdog.max_cycles);
+            s_{{message.name}}_msg_watchdog.missed = true;
+        } else {
+            s_{{message.name}}_msg_watchdog.missed = false;
+        }
+    }
+    {%- endif %}
+{%- endif %}
+{%- endfor %}
+    return STATUS_CODE_OK;
+}
+

autogen/templates/project_can/src/{{project_name}}_tx_all.c.jinja

@@ -17,6 +17,7 @@
 /* Intra-component Headers */
 #include "can_codegen.h"
 {% set messages = messages | selectattr("sender", "eq", project_name) | list -%}
+
 static CanMessage s_msg = { 0U };
 
 static void prv_tx_can_message(CanMessageId id, uint8_t num_bytes, uint64_t data) {
@@ -37,4 +38,46 @@ void can_tx_all() {
     {%- endfor -%}
     );
 {%- endfor %}
-}
+}
+
+void can_tx_fast_cycle() {
+{%- for message in messages %}
+{%- if message.cycle == "fast" %}
+    prv_tx_can_message(
+        SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}}, 
+        {{- (message.signals | sum(attribute='length') / 8) | int }},
+    {%- for signal in message.signals %}
+        (uint64_t) g_tx_struct.{{message.name}}_{{signal.name}} << {{signal.start_bit}}{{ " |" if not loop.last }}
+    {%- endfor -%}
+    );
+{%- endif %}
+{%- endfor %}
+}
+
+void can_tx_medium_cycle() {
+{%- for message in messages %}
+{%- if message.cycle == "medium" %}
+    prv_tx_can_message(
+        SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}}, 
+        {{- (message.signals | sum(attribute='length') / 8) | int }},
+    {%- for signal in message.signals %}
+        (uint64_t) g_tx_struct.{{message.name}}_{{signal.name}} << {{signal.start_bit}}{{ " |" if not loop.last }}
+    {%- endfor -%}
+    );
+{%- endif %}
+{%- endfor %}
+}
+
+void can_tx_slow_cycle() {
+{%- for message in messages %}
+{%- if message.cycle == "slow" %}
+    prv_tx_can_message(
+        SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}}, 
+        {{- (message.signals | sum(attribute='length') / 8) | int }},
+    {%- for signal in message.signals %}
+        (uint64_t) g_tx_struct.{{message.name}}_{{signal.name}} << {{signal.start_bit}}{{ " |" if not loop.last }}
+    {%- endfor -%}
+    );
+{%- endif %}
+{%- endfor %}
+}

autogen/templates/simulation_app/inc/can_scheduler.h.jinja

@@ -0,0 +1,145 @@
+#pragma once
+
+/************************************************************************************************
+ * @file   can_scheduler.h
+ *
+ * @brief  Header file defining the CanScheduler class
+ *
+ * @date   2025-01-04
+ * @author Aryan Kashem
+ ************************************************************************************************/
+
+/** @warning  This file is autogenerated */
+
+/* Standard library Headers */
+#include <atomic>
+#include <string>
+
+/* Inter-component Headers */
+#include <arpa/inet.h>
+#include <fcntl.h>
+#include <linux/can.h>
+#include <linux/can/bcm.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+/* Intra-component Headers */
+
+/**
+ * @defgroup CanScheduler
+ * @brief    SocketCAN Broadcast Manager abstraction class
+ * @{
+ */
+{% set messages = messages | list %}
+/**
+ * @class   CanScheduler
+ * @brief   Class that handles message scheduling over a SocketCAN interface
+ * @details This class is responsible scheduling CAN messages based on their cycle speed
+ *          Only 3 cycle speeds are supported, Fast (1kHz), medium (10Hz) and slow (1Hz)
+ *          The class shall support message updating during run-time for further bus simulation
+ */
+class CanScheduler {
+ private:
+  const std::string CAN_INTERFACE_NAME = "vcan0";                   /**< SocketCAN interface name */
+
+  static const constexpr unsigned int FAST_CYCLE_SPEED_MS = 1U;     /**< CAN fast cycle period in milliseconds */
+  static const constexpr unsigned int MEDIUM_CYCLE_SPEED_MS = 100U; /**< CAN medium cycle period in milliseconds */
+  static const constexpr unsigned int SLOW_CYCLE_SPEED_MS = 1000U;  /**< CAN slow cycle period in milliseconds */
+
+  static const constexpr unsigned int SLOW_CYCLE_BCM_ID = 0U;       /**< Linux Broadcast Manager Id for tracking fast cycle messages */
+  static const constexpr unsigned int MEDIUM_CYCLE_BCM_ID = 1U;     /**< Linux Broadcast Manager Id for tracking medium cycle messages */
+  static const constexpr unsigned int FAST_CYCLE_BCM_ID = 2U;       /**< Linux Broadcast Manager Id for tracking slow cycle messages */
+
+  static const constexpr unsigned int NUM_FAST_CYCLE_MESSAGES = {{ message_count.fast_cycle }}U; /**< Number of fast cycle messages */
+  static const constexpr unsigned int NUM_MEDIUM_CYCLE_MESSAGES = {{ message_count.medium_cycle }}U; /**< Number of medium cycle messages */
+  static const constexpr unsigned int NUM_SLOW_CYCLE_MESSAGES = {{ message_count.slow_cycle }}U; /**< Number of slow cycle messages */
+  static const constexpr unsigned int NUM_TOTAL_MESSAGES = {{ message_count.total }}U; /**< Total number of messages */
+  static const constexpr unsigned int MAX_MESSAGE_LENGTH = 8U; /**< Max message length in bytes */
+
+  {% set fast_message = namespace(count = 0) %}
+  {%- for message in messages %}
+  {%- if message.cycle == "fast" %}
+  static const constexpr unsigned int FAST_{{ message.sender | upper }}_{{ message.name | upper }}_FRAME_INDEX = {{ fast_message.count }}U; /**< Broadcast Manager {{ message.name | lower }} to Frame index mapping */
+  {%- set fast_message.count = fast_message.count + 1 %}
+  {%- endif %}
+  {%- endfor %}
+
+  {% set medium_message = namespace(count = 0) %}
+  {%- for message in messages %}
+  {%- if message.cycle == "medium" %}
+  static const constexpr unsigned int MEDIUM_{{ message.sender | upper }}_{{ message.name | upper }}_FRAME_INDEX = {{ medium_message.count }}U; /**< Broadcast Manager {{ message.name | lower }} to Frame index mapping */
+  {%- set medium_message.count = medium_message.count + 1 %}
+  {%- endif %}
+  {%- endfor %}
+
+  {% set slow_message = namespace(count = 0) %}
+  {%- for message in messages %}
+  {%- if message.cycle == "slow" %}
+  static const constexpr unsigned int SLOW_{{ message.sender | upper }}_{{ message.name | upper }}_FRAME_INDEX = {{ slow_message.count }}U; /**< Broadcast Manager {{ message.name | lower }} to Frame index mapping */
+  {%- set slow_message.count = slow_message.count + 1 %}
+  {%- endif %}
+  {%- endfor %}
+
+  /**
+   * @brief   Fast cycle Broadcast Manager message for the Linux Kernel
+   */
+  struct {
+    struct bcm_msg_head msg_head;                       /**< Broadcast Manager message head containing metadata */
+    struct can_frame frame[NUM_FAST_CYCLE_MESSAGES];    /**< CAN message frames that shall be scheduled for fast cycle */
+  } canFastCycleBCM;
+
+  /**
+   * @brief   Medium cycle Broadcast Manager message for the Linux Kernel
+   */
+  struct {
+    struct bcm_msg_head msg_head;                       /**< Broadcast Manager message head containing metadata */
+    struct can_frame frame[NUM_MEDIUM_CYCLE_MESSAGES];  /**< CAN message frames that shall be scheduled for medium cycle */
+  } canMediumCycleBCM;
+
+  /**
+   * @brief   Slow cycle Broadcast Manager message for the Linux Kernel
+   */
+  struct {
+    struct bcm_msg_head msg_head;                       /**< Broadcast Manager message head containing metadata */
+    struct can_frame frame[NUM_SLOW_CYCLE_MESSAGES];    /**< CAN message frames that shall be scheduled for slow cycle */
+  } canSlowCycleBCM;
+
+  int m_bcmCanSocket;               /**< The CAN schedulers Broadcast Manager socket FD */
+  std::atomic<bool> m_isConnected;  /**< Boolean flag to track the CAN schedulers connection status */
+
+  /**
+   * @brief   Schedules all CAN data by updating the Broacast Manager socket
+   * @details This function is called by startCanScheduler
+   *          This function shall initialize all CAN message values to 0
+   */
+  void scheduleCanMessages();
+
+ public:
+  /**
+   * @brief   Constructs a CanScheduler object
+   * @details Initializes the CanScheduler. The constructor sets up internal variables
+   */
+  CanScheduler();
+
+  /**
+   * @brief   Starts the CAN scheduler and sets all messages to 0. Must only be called once
+   * @details This function will connect to the Linux Broadcast Manager
+   *          This function must only be called once, and it will set all messages to 0
+   */
+  void startCanScheduler();
+
+  {%- for message in messages %}
+  {%- for signal in message.signals %}
+  /**
+   * @brief   Update the CAN value for {{ message.name | lower }} {{ signal.name | lower }}
+   * @param   {{ signal.name | lower }}_value New value for the signal
+   */
+  void update_{{ message.name | lower }}_{{ signal.name | lower }}(uint{{ signal.length }}_t {{ signal.name | lower }}_value);
+  {%- endfor %}
+  {%- endfor %}
+};
+
+/** @} */