Shooter Hub Software

.gitignore

@@ -29,3 +29,4 @@ _testmain.go
 .DS_Store
 static/logs
 static/img/avatars
+.venv/

field_nodes/shooter_hub/.gitignore

@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

field_nodes/shooter_hub/.vscode/extensions.json

@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

field_nodes/shooter_hub/.vscode/settings.json

@@ -0,0 +1,7 @@
+{
+    "files.associations": {
+        "*.ls": "fanuctp",
+        "*.funuctp": "funuctp",
+        "string": "cpp"
+    }
+}

field_nodes/shooter_hub/LICENSE.md

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+## MIT License
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

field_nodes/shooter_hub/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

field_nodes/shooter_hub/include/app/app_motor.hpp

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+#ifndef APP_MOTOR_H
+#define APP_MOTOR_H
+#include "hw/hw_motor.hpp"
+
+/**
+ * @file app_motor.hpp
+ * @brief Application layer for motor control.
+ */
+void app_motor_reset(void);
+
+/**
+ * @brief Run the motor control application logic.
+ */
+void app_motor_run(void);
+
+/**
+ * @brief Get the commanded duty cycle for a specified motor.
+ * @param motor The motor identifier.
+ * @return float The commanded duty cycle (-1.0 to 1.0).
+ */
+float app_motor_getCommandedDuty(hw_motor_configInstalledMotors_E motor);
+
+#endif // APP_MOTOR_H

field_nodes/shooter_hub/include/app/app_scoring.hpp

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+#ifndef APP_SCORING_H
+#define APP_SCORING_H
+#include "io/io_comms.h"
+
+/**
+ * @brief Initialize the scoring application.
+ */
+void app_scoring_reset(void);
+
+/**
+ * @brief Run the scoring application logic, to be called periodically.
+ */
+void app_scoring_run(void);
+
+/**
+ * @brief Get the current score.
+ * @return uint32_t The current score.
+ */
+uint32_t app_scoring_getScore(void);
+
+#endif // APP_SCORING_H

field_nodes/shooter_hub/include/hw/hw_motor.hpp

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+#ifndef HW_MOTOR_H
+#define HW_MOTOR_H
+
+typedef enum {
+  HW_MOTOR_INSTALLED_MOTOR_LEFT = 0,
+  HW_MOTOR_INSTALLED_MOTOR_RIGHT,
+  HW_MOTOR_INSTALLED_MOTOR_COUNT
+} hw_motor_configInstalledMotors_E;
+
+/** @brief Initialize the motor hardware */
+void hw_motor_init(void);
+
+/**
+ * @brief Set the motor duty cycle.
+ * @param motor The motor identifier.
+ * @param duty_cycle The duty cycle (-1.0 to 1.0).
+ */
+void hw_motor_setDutyCycle(hw_motor_configInstalledMotors_E motor,
+                           float duty_cycle);
+
+#endif // HW_MOTOR_H

field_nodes/shooter_hub/include/hw/hw_scoring.hpp

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+#ifndef HW_SCORING_H
+#define HW_SCORING_H
+#include <stdbool.h>
+
+typedef enum {
+  HW_SCORING_BREAK_BEAM_SENSOR_LEFTMOST,
+  HW_SCORING_BREAK_BEAM_SENSOR_MIDDLE_LEFT,
+  HW_SCORING_BREAK_BEAM_SENSOR_MIDDLE_RIGHT,
+  HW_SCORING_BREAK_BEAM_SENSOR_RIGHTMOST,
+  HW_SCORING_BREAK_BEAM_SENSOR_COUNT
+} hw_scoring_breakBeamSensors_E;
+
+/**
+ * @brief Initialize the hardware scoring module.
+ */
+void hw_scoring_init(void);
+
+/**
+ * @brief Get the HW state of the break beam sensor.
+ * @param sensor The break beam sensor identifier.
+ * @return true if the break beam sensor is triggered, false otherwise.
+ */
+bool hw_scoring_getBreakBeamSensorState(hw_scoring_breakBeamSensors_E sensor);
+
+#endif // HW_SCORING_H

field_nodes/shooter_hub/include/io/io_comms.h

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+#ifndef IO_COMMS_H
+#define IO_COMMS_H
+#include "hw/hw_motor.hpp"
+
+#include <stdint.h>
+
+typedef enum {
+  REQUESTED_HUB_STATE_DISABLED,
+  REQUESTED_HUB_STATE_MATCH_PLAY_SCORING_ACTIVE,
+  REQUESTED_HUB_STATE_MATCH_PLAY_SCORING_INACTIVE,
+  REQUESTED_HUB_STATE_DEBUG_MOTOR_SPINUP,
+  REQUESTED_HUB_STATE_DEBUG_SCORING_TEST,
+} RequestedHubState_E;
+
+/**
+ * @brief Get the requested hub state.
+ * @return RequestedHubState_E The requested hub state.
+ */
+RequestedHubState_E io_comms_getRequestedHubState(void);
+
+/**
+ * @brief Get the motor duty command.
+ * @param motor The motor identifier.
+ * @return float The motor duty command (-1.0 -> 1.0).
+ */
+float io_comms_getConfigMotorDutyCmd(hw_motor_configInstalledMotors_E motor);
+
+#endif // IO_COMMS_H

field_nodes/shooter_hub/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

field_nodes/shooter_hub/platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+default_envs = esp32_s3_devkitm_1
+
+[env:esp32_s3_devkitm_1]
+platform = espressif32
+board = esp32-s3-devkitm-1
+framework = arduino
+monitor_speed = 115200
+lib_deps = 
+	arduino-libraries/Ethernet@^2.0.2
+	https://github.com/bblanchon/ArduinoJson.git
+	ESPAsyncWebServer
+	fastled/FastLED@^3.10.3
+	esp32async/AsyncTCP@^3.4.8
+	madhephaestus/ESP32Servo@^3.1.3
+platform_packages = 
+	framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.2
+	framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.2/esp32-arduino-libs-3.0.2.zip
+build_flags = 
+	-DARDUINO_USB_CDC_ON_BOOT=1
+	-DARDUINO_USB_MODE=1
+	-DESP32_S3_DEVKITM_1
+lib_compat_mode = strict
+monitor_port = /dev/ttyACM0
+upload_port=/dev/ttyACM0
+
+[env:native]
+platform = native
+test_build_src = yes
+test_filter = test_app*
+build_src_filter =
+    +<app/*>
+    +<test/*>
+build_flags =
+    -Wall
+    -Wextra
+    -Wpedantic
+    -Werror
+	-Wswitch-enum
+	-DUNIT_TEST=1

field_nodes/shooter_hub/src/GlobalSettings.h

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+#ifndef GLOBALSETTINGS_H
+#define GLOBALSETTINGS_H
+
+#include <Arduino.h>
+
+// Declare the deviceRole variable
+String deviceRole;
+
+// Declare the arenaIP variable
+String arenaIP;
+
+// Declare the arenaPort variable
+String arenaPort;
+
+// Declare the useDHCP variable
+bool useDHCP;
+
+// Declare the deviceIP variable
+String deviceIP;
+String deviceGWIP;
+
+#endif // GLOBALSETTINGS_H