File Directory Structure

The project folder includes the generated modm files as well as the source and test code.

The modm submodule is included at the root. This is used to generate the necessary modm HALs. The generated hardware HALs (used for building code to be deployed on the MCB) are located in aruw-mcb-project/modm and the generated simulated HALs (used for building code for to be ran on Linux) are located in aruw-mcb-project/sim-modm

The source code is broken into aruw-mcb-project/src/aruwlib and aruw-mcb-project/src/aruwsrc. aruwlib is a static library encapsulated in a Drivers class. This code is meant to be developed for long term codebase use, independent of robot type. In addition, there are other independent algorithms and device objects that interact with the Drivers class. aruwsrc is control code that differs from robot to robot and potentially year to year. The test code mirrors the main source directory with the exception of periphery mocks that are used in unit testing. The directories aruw-mcb-project/test/aruwlib/mocks and aruw-mcb-project/test/aruwsrc/mocks contains mocks of drivers and control code.

In addition to the main source code, the folder docs contains tooling for generating doxygen documents and transfering these to Sphinx for more readable documentation. Also, scripts contains python and shell scripts that are either useful for developers or are used during validation.

The .gitlab folder contains the Dockerfile used to build the CI image as well as tools for building and publishing it.

Finally, isolated-deploy contains instructions and tooling for deploying to and MCB, which allows team members to deploy robot code if they do not have a Linux environment set up. Build artifacts are produced that any member can download and deploy to a robot.

Here is the project structure. Code in the modm directory is omitted for brevity.

.
|-- COPYING
|-- README.md
|-- scripts
|   |-- build_all_targets.sh                                Builds all robot types, for testing
|   |-- check_singleton_drivers.py                          Script used in CI
|   |-- clang-format-all                                    Script to apply clang-format rules to all C/C++ files in a directory
|   `-- run_all_unit_tests.sh
|-- docs
|   |-- Makefile                                            Used to auto-generate documentation based on comments
|   |-- conf.py
|   |-- index.rst
|   |-- make.bat
|   `-- module.rst
|-- isolated-deploy                                         Instructions and tooling necessary for deploying to an MCB without a build environment
|   |-- README.md
|   `-- openocd.cfg                                         Configuration file included with build artifacts for ease of deploying
|-- .vscode/                                                Folder that contains VSCode specifications so that we have tools such as text autocomplete
|   |-- extensions.json                                         and syntax highlighting.
|   |-- launch.json                                         Configuration file used for debugging in VSCode
|   |-- settings.json
|   `-- tasks.json
|-- .gitlab
|   |-- Dockerfile
|   |-- Makefile
|   |-- README.md
|   `-- get-new-version.sh
|-- .clang-format                                           Clang-format configuration file
|-- .devcontainer.json                                      WSL2 container configuration file
|-- .gitignore
|-- .gitlab-ci.yml                                          CI script
|-- modm                                                    Submodule
`-- aruw-mcb-project
    |-- modm
    |   `-- ...
    |-- SConstruct                                          Main build file
    |-- openocd.cfg                                         Openocd configuration
    |-- project.xml                                         Used by lbuild to generate modm files
    |-- robot-type
    |   `-- robot_type.hpp                                  Used for specifying a robot type
    |-- sim-modm
    |   |-- modm
    |   |   `-- ...
    |   `-- project.xml                                     Used by lbuild to generate modm files for simulation
    |-- src
    |   |-- aruwlib
    |   |   |-- Drivers.hpp                                 Main interface for singleton IO in aruwlib
    |   |   |-- DriversSingleton.cpp                        Declares an instance of the Drivers class, to be used only in main.cpp and *_control.cpp
    |   |   |-- DriversSingleton.hpp
    |   |   |-- SConscript                                  Build file that compiles and creates the aruwlib static library
    |   |   |-- algorithms
    |   |   |   |-- MahonyAHRS.cpp                          Open source IMU attitude calculation algorithm
    |   |   |   |-- MahonyAHRS.h
    |   |   |   |-- contiguous_float.cpp                    A float wrapped around some [min, max]
    |   |   |   |-- contiguous_float.hpp
    |   |   |   |-- crc.cpp
    |   |   |   |-- crc.hpp
    |   |   |   |-- extended_kalman.cpp
    |   |   |   |-- extended_kalman.hpp
    |   |   |   |-- linear_interpolation.cpp                A time-based interpolation algorithm that predicts a value using two previous values, useful
    |   |   |   |-- linear_interpolation.hpp                    for converting inputs from lower frequency to higher frequency without introducing latency
    |   |   |   |-- math_user_utils.cpp                     Miscellaneous helpful math tools and constants not already defined in cmath
    |   |   |   |-- math_user_utils.hpp
    |   |   |   |-- ramp.cpp                                Time-dependent ramping
    |   |   |   `-- ramp.hpp
    |   |   |-- architecture
    |   |   |   |-- clock.hpp
    |   |   |   |-- periodic_timer.cpp                      A timeout that restarts every time it has been stopped
    |   |   |   |-- periodic_timer.hpp
    |   |   |   |-- timeout.cpp
    |   |   |   `-- timeout.hpp
    |   |   |-- communication
    |   |   |   |-- can
    |   |   |   |   |-- can.cpp
    |   |   |   |   |-- can.hpp
    |   |   |   |   |-- can_rx_handler.cpp                  A singleton responsible for receiving CAN data and forwarding messages to the correct
    |   |   |   |   |-- can_rx_handler.hpp                      CanRxListeners
    |   |   |   |   |-- can_rx_listener.cpp                 An interface used for interacting with the CanRxHandler
    |   |   |   |   `-- can_rx_listener.hpp
    |   |   |   |-- gpio                                    Wrapper classes around modm GPIO classes to regulate which GPIO pins are used for
    |   |   |   |   |-- analog.cpp                              what purpose
    |   |   |   |   |-- analog.hpp
    |   |   |   |   |-- digital.cpp
    |   |   |   |   |-- digital.hpp
    |   |   |   |   |-- leds.cpp
    |   |   |   |   |-- leds.hpp
    |   |   |   |   |-- pwm.cpp
    |   |   |   |   `-- pwm.hpp
    |   |   |   |-- remote.cpp                              Remote code using UART and timing. modm does not support DBUS, so an interesting
    |   |   |   |-- remote.hpp                                  timing mechanism had to be used
    |   |   |   |-- sensors
    |   |   |   |   |-- distance
    |   |   |   |   |   |-- analog_distance_sensor.cpp      Interface that defines basics of an analog distance sensor
    |   |   |   |   |   |-- analog_distance_sensor.hpp
    |   |   |   |   |   |-- distance_sensor.cpp             Interface that defines basics of a distance sensor
    |   |   |   |   |   |-- distance_sensor.hpp
    |   |   |   |   |   |-- sharp_ir_GP2Y0A41.cpp
    |   |   |   |   |   `-- sharp_ir_GP2Y0A41.hpp
    |   |   |   |   `-- mpu6500
    |   |   |   |       |-- mpu6500.cpp                     I2C blocking communication with the on-board Mpu6500
    |   |   |   |       |-- mpu6500.hpp
    |   |   |   |       `-- mpu6500_reg.hpp
    |   |   |   `-- serial
    |   |   |       |-- dji_serial.cpp                      Serial interface with a generic serial protocol that supports the referee system
    |   |   |       |-- dji_serial.hpp                          as well as vision system serial
    |   |   |       |-- ref_serial.cpp
    |   |   |       |-- ref_serial.hpp
    |   |   |       |-- serial_test_class.cpp
    |   |   |       |-- serial_test_class.hpp
    |   |   |       |-- uart.cpp
    |   |   |       |-- uart.hpp
    |   |   |       |-- xavier_serial.cpp
    |   |   |       `-- xavier_serial.hpp
    |   |   |-- control                                     See "Command Subsystem Framework" for more info on this directory
    |   |   |   |-- command.cpp                             A basic control building block, an action that a robot should perform
    |   |   |   |-- command.hpp
    |   |   |   |-- command_mapper.cpp                      Singleton that handles the scheduling of commands based on remote input
    |   |   |   |-- command_mapper.hpp
    |   |   |   |-- command_scheduler.cpp                   Singleton that manages safe scheduling, resolving scheduling conflicts
    |   |   |   |-- command_scheduler.hpp
    |   |   |   |-- comprised_command.hpp                   A command made up of multiple commands
    |   |   |   |-- control_operator_interface.cpp          An abstraction layer for commands to interact with remote input
    |   |   |   |-- control_operator_interface.hpp
    |   |   |   |-- subsystem.cpp                           An organizational unit that encapsulates robot hardware
    |   |   |   `-- subsystem.hpp
    |   |   |-- display
    |   |   |   |-- sh1106.hpp                              For communicating with the RoboMaster OLED display
    |   |   |   |-- sh1106_defines.hpp
    |   |   |   |-- sh1106_impl.hpp
    |   |   |   `-- sh1106_mock_impl.hpp
    |   |   |-- errors
    |   |   |   |-- create_errors.hpp
    |   |   |   |-- error_controller.cpp                    A singleton that stores all errors and manages blinking LEDs based on 
    |   |   |   |-- error_controller.hpp                        which errors are being stored
    |   |   |   |-- system_error.cpp                        Object for storing information about a single error, including line, file,
    |   |   |   `-- system_error.hpp                            description, and error type information
    |   |   |-- motor
    |   |   |   |-- dji_motor.cpp                           Object that stores all information about a particular DJI motor
    |   |   |   |-- dji_motor.hpp
    |   |   |   |-- dji_motor_tx_handler.cpp                Singleton responsible for sending CAN packets across CAN lines for all motors
    |   |   |   |-- dji_motor_tx_handler.hpp
    |   |   |   |-- servo.cpp                               PWM wrapper for servo
    |   |   |   `-- servo.hpp
    |   |   `-- rm-dev-board-a
    |   |       |-- board.cpp                               Defines the system clock parameters
    |   |       `-- board.hpp
    |   |-- aruwsrc
    |   |   |-- algorithms
    |   |   |   |-- turret_pid.cpp                          Configurable PID controller used as a controller for many subsystems such as the turret
    |   |   |   `-- turret_pid.hpp                              and agitator
    |   |   `-- control
    |   |       |-- agitator                                Control code necessary for interacting with an agitator motor (M2006 or M3510 currently being used)
    |   |       |   |-- agitator_calibrate_command.cpp
    |   |       |   |-- agitator_calibrate_command.hpp
    |   |       |   |-- agitator_rotate_command.cpp
    |   |       |   |-- agitator_rotate_command.hpp
    |   |       |   |-- agitator_shoot_comprised_command.cpp    The main agitator command that handles rotation and unjamming with configurable speed,
    |   |       |   |-- agitator_shoot_comprised_command.hpp        delay, and unjamming parameters
    |   |       |   |-- agitator_shoot_comprised_command_instances.hpp
    |   |       |   |-- agitator_subsystem.cpp
    |   |       |   |-- agitator_subsystem.hpp
    |   |       |   |-- agitator_unjam_command.cpp
    |   |       |   `-- agitator_unjam_command.hpp
    |   |       |-- chassis                                 Control code necessary for interacting with a generic chassis
    |   |       |   |-- chassis_autorotate_command.cpp
    |   |       |   |-- chassis_autorotate_command.hpp
    |   |       |   |-- chassis_drive_command.cpp
    |   |       |   |-- chassis_drive_command.hpp
    |   |       |   |-- chassis_subsystem.cpp
    |   |       |   |-- chassis_subsystem.hpp
    |   |       |   |-- wiggle_drive_command.cpp
    |   |       |   `-- wiggle_drive_command.hpp
    |   |       |-- drone_control.cpp                       Defines subsystems, commands, and command mappings necessary for drone control
    |   |       |-- engineer                                Control code necessary for interacting with various engineer mechanism
    |   |       |   |-- extend_xaxis_command.cpp
    |   |       |   |-- extend_xaxis_command.hpp
    |   |       |   |-- grabber_subsystem.cpp
    |   |       |   |-- grabber_subsystem.hpp
    |   |       |   |-- squeeze_grabber_command.cpp
    |   |       |   |-- squeeze_grabber_command.hpp
    |   |       |   |-- xaxis_subsystem.cpp
    |   |       |   `-- xaxis_subsystem.hpp
    |   |       |-- engineer_control.cpp                    Defines subsystems, commands, and command mappings necessary for engineer control
    |   |       |-- example                                 Example code demonstrating how to use the subsystem/command framework
    |   |       |   |-- blink_led_command.cpp
    |   |       |   |-- blink_led_command.hpp
    |   |       |   |-- example_command.cpp
    |   |       |   |-- example_command.hpp
    |   |       |   |-- example_comprised_command.cpp
    |   |       |   |-- example_comprised_command.hpp
    |   |       |   |-- example_subsystem.cpp
    |   |       |   `-- example_subsystem.hpp
    |   |       |-- hero_control.cpp                        Defines subsystems, commands, and command mappings necessary for hero control
    |   |       |-- hopper-cover                            Control code necessary for interacting with a hopper cover
    |   |       |   |-- hopper_subsystem.cpp
    |   |       |   |-- hopper_subsystem.hpp
    |   |       |   |-- open_hopper_command.cpp
    |   |       |   `-- open_hopper_command.hpp
    |   |       |-- launcher                                Control code necessary for interacting with friction wheel motors (M3510s)
    |   |       |   |-- friction_wheel_rotate_command.cpp
    |   |       |   |-- friction_wheel_rotate_command.hpp
    |   |       |   |-- friction_wheel_subsystem.cpp
    |   |       |   `-- friction_wheel_subsystem.hpp
    |   |       |-- old_soldier_control.cpp                 Defines subsystems, commands, and command mappings necessary for old soldier (2019 soldier) control
    |   |       |-- robot_control.hpp
    |   |       |-- sentinel                                Control code necessary for interacting with a sentinel chassis and any other sentinel-specific mechanisms
    |   |       |   |-- sentinel_auto_drive_command.cpp
    |   |       |   |-- sentinel_auto_drive_command.hpp
    |   |       |   |-- sentinel_drive_manual_command.cpp
    |   |       |   |-- sentinel_drive_manual_command.hpp
    |   |       |   |-- sentinel_drive_subsystem.cpp
    |   |       |   `-- sentinel_drive_subsystem.hpp
    |   |       |-- sentinel_control.cpp                    Defines subsystems, commands, and command mappings necessary for sentinel control
    |   |       |-- soldier_control.cpp                     Defines subsystems, commands, and command mappings necessary for soldier control
    |   |       `-- turret                                  Control code necessary for interacting with a turret gimbal
    |   |           |-- turret_cv_command.cpp               Position-based turret control that takes commands from the vision system
    |   |           |-- turret_cv_command.hpp
    |   |           |-- turret_init_command.cpp
    |   |           |-- turret_init_command.hpp
    |   |           |-- turret_manual_command.cpp           Velocity-based turret control
    |   |           |-- turret_manual_command.hpp
    |   |           |-- turret_subsystem.cpp
    |   |           |-- turret_subsystem.hpp
    |   |           |-- turret_world_relative_position_command.cpp    Position-based turret control in world frame
    |   |           `-- turret_world_relative_position_command.hpp
    |   |-- main.cpp                                        Main control loop
    |   `-- mock_macros.hpp                                 Any macros necessary for simulation/mocking
    `-- test
        |-- aruwlib
        |   |-- ...
        |   `-- mock                                        aurwlib mocks replace drivers class during unit testing
        |       |-- AnalogMock.hpp
        |       |-- CanMock.hpp
        |       |-- CanRxHandlerMock.hpp
        |       |-- CommandMapperMock.hpp
        |       |-- CommandSchedulerMock.hpp
        |       |-- ControlOperatorInterfaceMock.hpp
        |       |-- DigitalMock.hpp
        |       |-- DjiMotorTxHandlerMock.hpp
        |       |-- ErrorControllerMock.hpp
        |       |-- LedsMock.hpp
        |       |-- Mpu6500Mock.hpp
        |       |-- PwmMock.hpp
        |       |-- RefSerialMock.hpp
        |       |-- RemoteMock.hpp
        |       |-- UartMock.hpp
        |       `-- XavierSerialMock.hpp
        `-- aruwsrc
            |-- control
            |   `-- ...
            `-- mock                                        aruwsrc mocks used in leu of subsystems/commands during testing
                |-- ...
                `-- FrictionWheelSubsystemMock.hpp`