Feat/monorepo standardize interfaces

.clang-tidy

@@ -1,6 +1,7 @@
 Checks: 'bugprone-*, cppcoreguidelines-*, readability-identifier-naming, -cppcoreguidelines-avoid-non-const-global-variables, -bugprone-branch-clone, -cppcoreguidelines-pro-type-vararg, -bugprone-easily-swappable-parameters, -cppcoreguidelines-avoid-c-arrays'
 WarningsAsErrors: 'cppcoreguidelines-*, bugprone-*, readability-identifier-naming'
 FormatStyle: 'file'
+SystemHeaders: false
 CheckOptions:
   - { key: readability-identifier-naming.ClassMemberCase, value: 'lower_case' }
   - { key: readability-identifier-naming.ClassMemberPrefix, value: '_' }

include/VCF_InterfaceTasks.h

@@ -0,0 +1,80 @@
+#ifndef VCF_INTERFACETASKS
+#define VCF_INTERFACETASKS
+
+#include "VCF_Constants.h"
+
+/* External Includes */
+#include <ht_task.hpp>
+#include "CANInterface.h"
+
+/* Local Interface Includes */
+#include "ACUInterface.h"
+#include "ADCInterface.h"
+#include "BrakeRotorTempInterface.h"
+#include "DashboardInterface.h"
+#include "OrbisInterface.h"
+#include "SystemTimeInterface.h"
+#include "VCFCANInterfaceImpl.h"
+#include "VCFEthernetInterface.h"
+#include "VCRInterface.h"
+#include "WatchdogInterface.h"
+
+/* Local System Includes */
+#include "NeopixelController.h"
+
+
+/**
+ * Init Functions - to be called in setup@
+ */
+void initialize_all_interfaces();
+
+/**
+ * The read_adc0 task will command the ADCInterface to sample, convert, and store
+ * data from all eight channels of adc0.
+ */
+::HT_TASK::TaskResponse run_read_adc0_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+/**
+ * The read_adc0 task will command the ADCInterface to sample, convert, and store
+ * data from all eight channels of adc1.
+ */
+::HT_TASK::TaskResponse run_read_adc1_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+
+::HT_TASK::TaskResponse run_kick_watchdog(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+/**
+ * The buzzer_control task will control the buzzer control pin. This function
+ * relies on the buzzer_control pin definition in VCF_Constants.h;
+ */
+::HT_TASK::TaskResponse init_buzzer_control_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+::HT_TASK::TaskResponse run_buzzer_control_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+/**
+ * The handle_send_VCF_ethernet_data task will send a protobuf message from VCF
+ * to a destination port defined in EthernetAddressDefs. This function relies on
+ * the VCF (sending) socket and vcf_data defined in VCFGlobals.h, and Ethernet
+ * constants defined in EthernetAddressDefs.h.
+ *
+ */
+HT_TASK::TaskResponse init_handle_send_vcf_ethernet_data(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+HT_TASK::TaskResponse run_handle_send_vcf_ethernet_data(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+// this task attempts to send any data that is enqueued at 250hz. this will be the max rate that you can send over the CAN bus.
+// you dont have to enqeue at this rate, but this allows us to have 2 layers of rate limiting on CAN sending
+HT_TASK::TaskResponse handle_CAN_send(const unsigned long &sysMicros, const HT_TASK::TaskInfo &taskInfo); // NOLINT (capitalization of CAN)
+
+HT_TASK::TaskResponse run_dash_GPIOs_task(const unsigned long& sys_micros, const HT_TASK::TaskInfo& task_info); // NOLINT (capitalization of GPIOs)
+HT_TASK::TaskResponse send_dash_data(const unsigned long &sysMicros, const HT_TASK::TaskInfo &taskInfo);
+
+HT_TASK::TaskResponse enqueue_front_suspension_data(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+HT_TASK::TaskResponse debug_print(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+namespace async_tasks
+{
+    // the others in the VCF Tasks can just stay there, they dont need forward declarations.
+    HT_TASK::TaskResponse handle_async_main(const unsigned long& sys_micros, const HT_TASK::TaskInfo& task_info);
+}
+
+#endif

include/VCF_SystemTasks.h

@@ -0,0 +1,33 @@
+#ifndef VCF_SYSTEMTASKS
+#define VCF_SYSTEMTASKS
+
+#include "VCF_Constants.h"
+
+/* External Includes */
+#include <ht_task.hpp>
+
+/* Local System Includes */
+#include "BuzzerController.h"
+#include "EEPROMUtilities.h"
+#include "IOExpanderUtilities.h"
+#include "NeopixelController.h"
+#include "PedalsSystem.h"
+#include "SteeringSystem.h"
+
+/**
+ * @brief Creates an instance of all systems.
+ */
+void initialize_all_systems();
+
+::HT_TASK::TaskResponse enqueue_pedals_data(const unsigned long &sys_micros, const HT_TASK::TaskInfo& task_info);
+
+::HT_TASK::TaskResponse update_pedals_calibration_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+::HT_TASK::TaskResponse enqueue_steering_data(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+::HT_TASK::TaskResponse update_steering_calibration_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+::HT_TASK::TaskResponse update_neopixels_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+
+#endif

lib/interfaces/include/ACUInterface.h

@@ -1,30 +1,32 @@
 #ifndef ACU_INTERFACE_H
 #define ACU_INTERFACE_H
 
+/* ETL Library */
+#include <etl/singleton.h>
+
+/* External Includes */
 #include "SharedFirmwareTypes.h"
-#include "Arduino.h"
-#include "etl/singleton.h"
 #include "hytech.h"
-#include "FlexCAN_T4.h"
+#include "CANInterface.h"
+#include <FlexCAN_T4.h>
+
 
-class ACUInterface 
+class ACUInterface
 {
-    public:
+public:
 
-        ACUCoreData_s get_last_recvd_data() {return _last_recvd_data;}
+    ACUCoreData_s get_last_recvd_data() { return _last_recvd_data; }
 
-        float get_cell_voltage() {return _min_cell_voltage;}
+    float get_cell_voltage() { return _min_cell_voltage; }
 
-        void receive_ACU_voltages(const CAN_message_t &can_msg);
-
-    private: 
+    void receive_ACU_voltages(const CAN_message_t &can_msg);
 
-        ACUCoreData_s _last_recvd_data;
-        float _min_cell_voltage = 0;
-
-};
+private:
 
+    ACUCoreData_s _last_recvd_data;
+    float _min_cell_voltage = 0;
 
+};
 
 using ACUInterfaceInstance = etl::singleton<ACUInterface>;