Create CAN Communication handler class for inverters by Hibyehello · Pull Request #73 · byui-formula-hybrid/Core

Hibyehello · 2026-01-28T04:46:06Z

A basic framework that I cobbled together for inverter communication. I made a virtual class to be the base.

Adds

Start function
Stop function
HandleFrame function
Heartbeat for DTIX50 inverters

Putting this here just to get some reviews, and for any brainstorming

mcgaryp

This is awesome start!

I haven't thought about it more than just stating it here. Let's write unit tests of this code. Let's think of how we expect it to be called and write the tests around that :) looking very testable so far. We may need to add a few small tweaks to it as we explore testing

Great work

mcgaryp · 2026-01-28T05:19:24Z

+    // Set up the drive disable command
+    Command::SetDriveEnable command = { 0x0, 0xFFFFFFFFFFFFFF };
+
+    Frame frame(0x0C52, &command);


I'd like to get the dictionary of messages to IDs figured out at some point. Doesn't need to be now but let's put some todos in here as comments to utilize that dictionary or what ever we come up with to aid in creating forms that way we don't have to know the ids of messages when we creat them

I still see this as a relevant item to address we need to do it now or make sure we do not lose this requirement and do it later

A little more cleanup as well

mcgaryp

Let's comb through the new functions and decide which return values and parameters should be immutable in or out of the functions we are writing.

mcgaryp · 2026-01-29T19:20:14Z

+    virtual void setup(const char* name = nullptr, uint32_t priority = 0, uint32_t attributes = 0) = 0;
+    virtual uint32_t create(taskFunc task, void* argument) = 0;


what is the difference between setup and create functions?

Setup I use since FreeRTOS and CMSIS both have an attributes that get passed to the thread/task and I had the setup function initialize that before so that the create command could be more concise.

mcgaryp · 2026-01-29T19:23:38Z

+    std::unique_ptr<Core::iLockStrategy> m_shouldStop_mut;
+    std::unique_ptr<Core::iThreadStrategy> m_thread;
+    Service *m_canService;


I just want to discuss the difference between unique pointer and *. Mostly to remind me but Also as some documentation is anyone wants to know in the future.

Unique pointers mean that the pointer will be cleaned up by RAII so when the class that owns the unique pointers will automatically get cleaned up on that classes destruction. Unique pointers also get destroyed when the scope dies, since it's all RAII handled. The entire goal is to avoid memory leaks if we forget to free the pointer. Do note, someone else used unique pointers first and that made me remember them

mcgaryp · 2026-01-29T19:33:54Z

I'm interested in seeing a test for the heart beat.
Something I'd like to do this semester is create some kind of mock CAN bus. where we can mock the can behavior and test can functions... maybe we have enough if we create a mock can service? we just need to make the object. and test it out... future thoughts perhaps.

Yeah I was trying to think of a way to test for it, I considered making a method to check that the thread was running, but we really do need a mock CAN bus which would be great.

This will help with memory safety

Hibyehello · 2026-01-30T16:55:38Z

Weird test fail, it worked so many times in a row on my mac. I think I might blame std::thread for the MacOS test being inconsistent

Hibyehello · 2026-01-31T18:50:57Z

Update on tests, I accidentally introduced undefined behavior from not initializing m_shouldStop

mcgaryp · 2026-02-04T00:22:56Z

+}
+
+// Sends a drive enable every ~250 milliseconds so the car doesn't stop
+void Controller::heartbeat(void* s) {


We want the heartbeat function to be thread safe. If the function is called multiple times we should only have one "heartbeat" running at a time not multiple

mcgaryp · 2026-02-04T00:24:21Z

+}
+
+// Just interprets message22 and sends the error codes
+FaultCodes Controller::getFaultCode(const Frame &frame) {


I'm on the fence with the need for this function.

Hibyehello requested a review from a team as a code owner January 28, 2026 04:46

Hibyehello marked this pull request as draft January 28, 2026 04:46

Create CAN Communication handler class for inverters

4370c67

Hibyehello force-pushed the inverter-can-comm branch from 57ee908 to 4370c67 Compare January 28, 2026 04:50

mcgaryp requested changes Jan 28, 2026

View reviewed changes

Hibyehello added 2 commits January 27, 2026 23:48

Replace std::mutex with a cmsis_os2 based lock, and minor changes

338ffea

Define the enable and disable commands in the constructor

785f212

A little more cleanup as well

mcgaryp reviewed Jan 28, 2026

View reviewed changes

Comment thread lib/inverter/DTIX50/can.cpp Outdated

Comment thread lib/inverter/can.h Outdated

Comment thread lib/inverter/DTIX50/can.h Outdated

Comment thread lib/inverter/DTIX50/can.cpp Outdated

mcgaryp reviewed Jan 28, 2026

View reviewed changes

Comment thread lib/inverter/DTIX50/can.h Outdated

Create iThreadStrategy and convert inverter::CAN to it

07e170c

mcgaryp requested changes Jan 29, 2026

View reviewed changes

Comment thread lib/core/thread/i_thread_strategy.h

Hibyehello added 4 commits January 28, 2026 17:04

Fix compiling errors

9e6f1f8

Fix up some classes

6ccfcbb

Add initial test framework

569a2a7

Rename class to Controller

ba64127

mcgaryp requested changes Jan 29, 2026

View reviewed changes

mcgaryp reviewed Jan 29, 2026

View reviewed changes

Comment thread test/test_inverter/DTIX50/test_inverter_communicate.cpp Outdated

mcgaryp reviewed Jan 29, 2026

View reviewed changes

Hibyehello added 3 commits January 29, 2026 16:01

Add Documentation, and refactors NativeThreadStrategy

f1e3226

Swap to smart pointers

5452ae7

This will help with memory safety

Add Hearbeat test, and fix a few minor things

eec412b

Hibyehello added 8 commits January 30, 2026 10:10

Wait for thread to be killed before checking transmit numbers

6b6b099

Use std::chrono::milliseconds

cff59a2

Make sure to unlock mutex when shouldStop is true

f58b42d

Test for at least 2 keep alives in 1 second

1484e3d

Test before controller.stop()

ec92f65

Test the macos buildbot with 10 seconds

38f8d58

Initialize m_shouldStop before use

bc8e622

Set controller test back to 1 second delay

1e1fb76

Hibyehello added 4 commits January 31, 2026 15:41

Make more parameters const

36524f4

Remove unused include

4d3563d

Make CMSISOS2 Thread name consistent established styles

5a2398b

DTIX50: Isolate the message id from the frame id

31c7e5f

mcgaryp reviewed Feb 4, 2026

View reviewed changes

		virtual void setup(const char* name = nullptr, uint32_t priority = 0, uint32_t attributes = 0) = 0;
		virtual uint32_t create(taskFunc task, void* argument) = 0;

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Hibyehello commented Jan 28, 2026 •

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