Config refactor

Doxyfile

@@ -93,14 +93,6 @@ ALLOW_UNICODE_NAMES    = NO
 
 OUTPUT_LANGUAGE        = English
 
-# The OUTPUT_TEXT_DIRECTION tag is used to specify the direction in which all
-# documentation generated by doxygen is written. Doxygen will use this
-# information to generate all generated output in the proper direction.
-# Possible values are: None, LTR, RTL and Context.
-# The default value is: None.
-
-OUTPUT_TEXT_DIRECTION  = None
-
 # If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
 # descriptions after the members that are listed in the file and class
 # documentation (similar to Javadoc). Set to NO to disable this.
@@ -1149,44 +1141,6 @@ USE_HTAGS              = NO
 
 VERBATIM_HEADERS       = YES
 
-# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
-# clang parser (see:
-# http://clang.llvm.org/) for more accurate parsing at the cost of reduced
-# performance. This can be particularly helpful with template rich C++ code for
-# which doxygen's built-in parser lacks the necessary type information.
-# Note: The availability of this option depends on whether or not doxygen was
-# generated with the -Duse_libclang=ON option for CMake.
-# The default value is: NO.
-
-CLANG_ASSISTED_PARSING = NO
-
-# If clang assisted parsing is enabled and the CLANG_ADD_INC_PATHS tag is set to
-# YES then doxygen will add the directory of each input to the include path.
-# The default value is: YES.
-
-CLANG_ADD_INC_PATHS    = YES
-
-# If clang assisted parsing is enabled you can provide the compiler with command
-# line options that you would normally use when invoking the compiler. Note that
-# the include paths will already be set by doxygen for the files and directories
-# specified with INPUT and INCLUDE_PATH.
-# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
-
-CLANG_OPTIONS          =
-
-# If clang assisted parsing is enabled you can provide the clang parser with the
-# path to the directory containing a file called compile_commands.json. This
-# file is the compilation database (see:
-# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the
-# options used when the source files were built. This is equivalent to
-# specifying the -p option to a clang tool, such as clang-check. These options
-# will then be passed to the parser. Any options specified with CLANG_OPTIONS
-# will be added as well.
-# Note: The availability of this option depends on whether or not doxygen was
-# generated with the -Duse_libclang=ON option for CMake.
-
-CLANG_DATABASE_PATH    =
-
 #---------------------------------------------------------------------------
 # Configuration options related to the alphabetical class index
 #---------------------------------------------------------------------------
@@ -1325,15 +1279,6 @@ HTML_COLORSTYLE_SAT    = 100
 
 HTML_COLORSTYLE_GAMMA  = 80
 
-# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
-# page will contain the date and time when the page was generated. Setting this
-# to YES can help to show when doxygen was last run and thus if the
-# documentation is up to date.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-HTML_TIMESTAMP         = NO
-
 # If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
 # documentation will contain a main index with vertical navigation menus that
 # are dynamically created via JavaScript. If disabled, the navigation index will
@@ -1628,17 +1573,6 @@ HTML_FORMULA_FORMAT    = png
 
 FORMULA_FONTSIZE       = 10
 
-# Use the FORMULA_TRANSPARENT tag to determine whether or not the images
-# generated for formulas are transparent PNGs. Transparent PNGs are not
-# supported properly for IE 6.0, but are supported on all modern browsers.
-#
-# Note that when changing this option you need to delete any form_*.png files in
-# the HTML output directory before the changes have effect.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_HTML is set to YES.
-
-FORMULA_TRANSPARENT    = YES
-
 # The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
 # to create new LaTeX commands to be used in formulas as building blocks. See
 # the section "Including formulas" for details.
@@ -1942,16 +1876,6 @@ LATEX_BATCHMODE        = NO
 
 LATEX_HIDE_INDICES     = NO
 
-# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
-# code with syntax highlighting in the LaTeX output.
-#
-# Note that which sources are shown also depends on other settings such as
-# SOURCE_BROWSER.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_SOURCE_CODE      = NO
-
 # The LATEX_BIB_STYLE tag can be used to specify the style to use for the
 # bibliography, e.g. plainnat, or ieeetr. See
 # https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
@@ -1960,14 +1884,6 @@ LATEX_SOURCE_CODE      = NO
 
 LATEX_BIB_STYLE        = plain
 
-# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
-# page will contain the date and time when the page was generated. Setting this
-# to NO can help when comparing the output of multiple runs.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_TIMESTAMP        = NO
-
 # The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
 # path from which the emoji images will be read. If a relative path is entered,
 # it will be relative to the LATEX_OUTPUT directory. If left blank the
@@ -2032,16 +1948,6 @@ RTF_STYLESHEET_FILE    =
 
 RTF_EXTENSIONS_FILE    =
 
-# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
-# with syntax highlighting in the RTF output.
-#
-# Note that which sources are shown also depends on other settings such as
-# SOURCE_BROWSER.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_RTF is set to YES.
-
-RTF_SOURCE_CODE        = NO
-
 #---------------------------------------------------------------------------
 # Configuration options related to the man page output
 #---------------------------------------------------------------------------
@@ -2138,14 +2044,6 @@ GENERATE_DOCBOOK       = NO
 
 DOCBOOK_OUTPUT         = docbook
 
-# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
-# program listings (including syntax highlighting and cross-referencing
-# information) to the DOCBOOK output. Note that enabling this will significantly
-# increase the size of the DOCBOOK output.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
-
-DOCBOOK_PROGRAMLISTING = NO
 
 #---------------------------------------------------------------------------
 # Configuration options for the AutoGen Definitions output
@@ -2325,15 +2223,6 @@ EXTERNAL_PAGES         = YES
 # Configuration options related to the dot tool
 #---------------------------------------------------------------------------
 
-# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
-# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
-# NO turns the diagrams off. Note that this option also works with HAVE_DOT
-# disabled, but it is recommended to install and use dot, since it yields more
-# powerful graphs.
-# The default value is: YES.
-
-CLASS_DIAGRAMS         = YES
-
 # You can include diagrams made with dia in doxygen documentation. Doxygen will
 # then run dia to produce the diagram and insert it in the documentation. The
 # DIA_PATH tag allows you to specify the directory where the dia binary resides.
@@ -2366,22 +2255,6 @@ HAVE_DOT               = YES
 
 DOT_NUM_THREADS        = 0
 
-# When you want a differently looking font in the dot files that doxygen
-# generates you can specify the font name using DOT_FONTNAME. You need to make
-# sure dot is able to find the font, which can be done by putting it in a
-# standard location or by setting the DOTFONTPATH environment variable or by
-# setting DOT_FONTPATH to the directory containing the font.
-# The default value is: Helvetica.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_FONTNAME           = Helvetica
-
-# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
-# dot graphs.
-# Minimum value: 4, maximum value: 24, default value: 10.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_FONTSIZE           = 10
 
 # By default doxygen will tell dot to use the default font as specified with
 # DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
@@ -2619,17 +2492,6 @@ DOT_GRAPH_MAX_NODES    = 50
 
 MAX_DOT_GRAPH_DEPTH    = 0
 
-# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
-# background. This is disabled by default, because dot on Windows does not seem
-# to support this out of the box.
-#
-# Warning: Depending on the platform used, enabling this option may lead to
-# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
-# read).
-# The default value is: NO.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_TRANSPARENT        = NO
 
 # Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
 # files in one run (i.e. multiple -o and -T options on the command line). This

Makefile

@@ -71,7 +71,7 @@ CFLAGS := $(CPU_CFLAGS)
 
 # Compiler flags for C++ files
 CXXFLAGS := $(CPU_CFLAGS) -std=gnu++23 \
-            -felide-constructors -fno-exceptions -fpermissive -fno-rtti \
+            -felide-constructors -fno-exceptions -fpermissive \
             -Wno-error=narrowing -Wno-trigraphs -Wno-comment -Wall -Werror \
 			-Wno-volatile
 
@@ -171,6 +171,15 @@ $(BUILD_DIR)/%.cpp.o: %.cpp
 	@$(OBJDUMP) -dstz $@ > $@.dump
 
 
+
+DOC_SCRIPT = $(TOOLS_DIR)/build_docs.sh
+# Phony target to generate documentation using Doxygen
+.PHONY: docs
+
+docs: build
+	@chmod +x $(DOC_SCRIPT)
+	@$(DOC_SCRIPT)
+
 # Phony target to prevent conflicts with files named 'clean' and force a rebuild every time
 .PHONY: clean
 
@@ -257,7 +266,12 @@ help:
 	@echo "  monitor:      monitors any actively running firmware and displays serial output"
 	@echo "  kill:         stops any running firmware"
 	@echo "  restart:      restarts any running firmware"
-
+	@echo "  clean:        removes all build artifacts and generated files"
+	@echo "  clean_src:    removes only the source object files"
+	@echo "  clean_libs:   removes only the library object files"
+	@echo "  clean_teensy4: removes only the Teensy object files"
+	@echo "  cdb: 		   generates compile_commands.json for clangd using Bear"
+	@echo "  docs:         generates documentation of our src/ code using Doxygen"
 
 # --- Compile DB generation with Bear -----------------------------------------
 .PHONY: cdb

libraries/QNEthernet/src/lwip/pbuf.c

@@ -285,6 +285,7 @@ pbuf_alloc(pbuf_layer layer, u16_t length, pbuf_type type)
       /* If pbuf is to be allocated in RAM, allocate memory for it. */
       p = (struct pbuf *)mem_malloc(alloc_len);
       if (p == NULL) {
+
         return NULL;
       }
       pbuf_init_alloced_pbuf(p, LWIP_MEM_ALIGN((void *)((u8_t *)p + SIZEOF_STRUCT_PBUF + offset)),

src/comms/SDManager.hpp

@@ -1,5 +1,4 @@
-#ifndef SD_WRAP
-#define SD_WRAP
+#pragma once
 
 #include <SD/SD.h>
 #include <SPI/SPI.h>
@@ -97,6 +96,4 @@ class SDManager {
 
     /// @brief Internal File object that represents currently opened file on SD card
     File file;
-};
-
-#endif
+};

src/comms/comms_layer.cpp

@@ -1,4 +1,19 @@
 #include "comms_layer.hpp"
+#include "comms/data/configuration_status_data.hpp"
+#include "comms/data/sendable.hpp"
+
+
+/// @brief This resets the whole processor and kicks it back to program entry (teensy4/startup.c)
+/// @param void specify no arguments (needed in C)
+/// @note Dont abuse this function, it is not to be used lightly
+extern "C" void reset_teensy(void) {
+    // Register information found in the NXP IM.XRT 1060 reference manual
+    SRC_GPR5 = 0x0BAD00F1;
+    // Register information found in the Arm-v7-m reference manual
+    SCB_AIRCR = 0x05FA0004;
+    // loop to catch execution while the reset occurs
+    while (1);
+}
 
 namespace Comms {
 
@@ -148,6 +163,27 @@ void CommsLayer::set_firmware_data(FirmwareData& data) {
     m_firmware_data = data;
 };
 
+void CommsLayer::configure() {
+    int time = millis();
+    Sendable<ConfigurationStatusData> config_status_sendable;
+    while (!m_hive_data.config.config_start.num_config_sections != 0) {
+        Serial.printf("Waiting for config start packet... time since start: %d ms\n", millis() - time);
+        config_status_sendable.data.is_configured = 0;
+        config_status_sendable.send_to_comms();
+        run();
+        config_loop_timer.delay_micros(5000);
+    }
+    Serial.printf("Config start packet received, expecting %d config sections\n", m_hive_data.config.config_start.num_config_sections);
+
+    while(!m_hive_data.config.is_configured()) {
+        config_status_sendable.data.ready_for_config = 1;
+        config_status_sendable.send_to_comms();
+        run();
+        Serial.printf("Config: received %d of %d sections\n", m_hive_data.config.num_sections_received, m_hive_data.config.config_start.num_config_sections);
+        config_loop_timer.delay_micros(5000);
+    }
+}
+
 bool CommsLayer::initialize_hid() {
     // Initialize the HID physical layer
     m_hid.init();

src/comms/comms_layer.hpp

@@ -6,6 +6,8 @@
 #include "comms/data/packet_payload.hpp"    // for PacketPayload
 #include "comms/data/hive_data.hpp"         // for HiveData
 #include "comms/data/firmware_data.hpp"     // for FirmwareData
+#include "comms/config_data/robot_config.hpp" // for RobotConfig
+#include "config_data/robot_config.hpp"
 
 namespace Comms {
 
@@ -27,7 +29,8 @@ class CommsLayer {
     /// @return Exit status, 0 for success, < 0 for error
     /// @note Should never return
     int run();
-
+    /// @brief Requests the configuration data from the Hive and waits until it is fully received before returning
+    void configure();
 public:
     /// @brief Send a CommsData packet to the appropriate packet payload
     /// @param data The CommsData packet to send
@@ -52,6 +55,10 @@ class CommsLayer {
     /// @brief Clear all physical layer outgoing buffers
     void clear_outgoing_buffers();
 
+    /// @brief Check if the configuration process is complete
+    /// @return True if configuration is complete, false if not
+    bool is_configured() const { return m_hive_data.config.is_configured(); }
+
 public:
     /// @brief Get the outgoing ethernet packet
     /// @return The outgoing ethernet packet
@@ -116,7 +123,9 @@ class CommsLayer {
 
     /// @brief Firmware data
     FirmwareData m_firmware_data;
-
+
+    /// @brief Timer for use in the configuration process
+    Timer config_loop_timer;
 };
 
 }   // namespace Comms