Refactoring into modular structure with hierarchical CMakeLists.txt t…

…o enable building of unit tests.

CMakeLists.txt

@@ -20,51 +20,27 @@ set(toolchainVersion 13_2_Rel1)
 set(picotoolVersion 2.0.0)
 include(${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
 # ====================================================================================
-set(PICO_BOARD pico CACHE STRING "Board type")
+set(TEST OFF)
+
+if(DEFINED TEST)
+  add_definitions(-DTEST=1)
+else()
+  add_definitions(-DTEST=0)
+  set(PICO_BOARD pico CACHE STRING "Board type")
+endif()
 
 # Pull in Raspberry Pi Pico SDK (must be before project)
-include(pico-sdk/pico_sdk_init.cmake)
+include(${CMAKE_CURRENT_LIST_DIR}/pico-sdk/pico_sdk_init.cmake)
 
 if (PICO_SDK_VERSION_STRING VERSION_LESS "1.4.0")
   message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.4.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}")
 endif()
 
-project(samwise C CXX ASM)
-
 # Initialise the Raspberry Pi Pico SDK
 pico_sdk_init()
 
-# Include libraries
-add_subdirectory(src/drivers)
-add_subdirectory(src/scheduler)
-add_subdirectory(src/state_machine/states)
-add_subdirectory(src/state_machine/tasks)
-
-# Add executable. Default name is the project name, version 0.1
-file(GLOB top CONFIGURE_DEPENDS "src/*.c")
-
-add_executable(samwise ${top})
-
-target_link_libraries(samwise PRIVATE
-  scheduler
-  state_machine_states
-  state_machine_tasks
-  drivers
-  pico_stdlib
-  hardware_spi
-)
-
-pico_set_program_name(samwise "samwise")
-pico_set_program_version(samwise "0.1")
-
-# Modify the below lines to enable/disable output over UART/USB
-pico_enable_stdio_uart(samwise 0)
-pico_enable_stdio_usb(samwise 1)
-
-# Add the standard include files to the build
-target_include_directories(samwise PRIVATE
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/common # common headers
-)
-
-pico_add_extra_outputs(samwise)
+project(samwise C CXX ASM)
 
+# Include src
+# Executable `samwise` built under src/
+add_subdirectory(src)

src/CMakeLists.txt

@@ -0,0 +1,29 @@
+add_subdirectory(common)
+add_subdirectory(drivers)
+add_subdirectory(scheduler)
+add_subdirectory(states)
+add_subdirectory(tasks)
+
+add_executable(samwise main.c init.c)
+target_link_libraries(samwise PUBLIC scheduler error rfm9x)
+
+# Global include directory common for all targets
+target_include_directories(samwise PUBLIC
+  "${PROJECT_SOURCE_DIR}/src/common"
+  "${PROJECT_SOURCE_DIR}/src/drivers/rfm9x"
+  "${PROJECT_SOURCE_DIR}/src/scheduler"
+)
+
+pico_set_program_name(samwise "samwise")
+pico_set_program_version(samwise "0.1")
+
+# Modify the below lines to enable/disable output over UART/USB
+pico_enable_stdio_uart(samwise 0)
+pico_enable_stdio_usb(samwise 1)
+
+# Add the standard include files to the build
+target_include_directories(samwise PRIVATE
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/common # common headers
+)
+
+pico_add_extra_outputs(samwise)

src/common/CMAkeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(error)

src/common/error/CMakeLists.txt

@@ -0,0 +1,6 @@
+add_library(error error.c)
+target_link_libraries(error PUBLIC pico_stdlib)
+
+target_include_directories(error PUBLIC
+  "${PROJECT_SOURCE_DIR}/src/common"
+)

src/common/error.c → src/common/error/error.c

@@ -11,8 +11,6 @@
  */
 
 #include "error.h"
-#include "macros.h"
-#include "pico/stdlib.h"
 
 /**
  * This function should be called if we encounter an unrecoverable error. In

src/common/error.h → src/common/error/error.h

@@ -5,4 +5,6 @@
 
 #pragma once
 
+#include "pico/stdlib.h"
+
 void fatal_error();

src/common/macros.h

@@ -9,7 +9,11 @@
 #pragma once
 
 #include "error.h"
-#include "pico/printf.h"
+#if TEST == 1
+  #include <stdio.h>
+#else
+  #include "pico/printf.h"
+#endif
 
 /**
  * If this symbol is defined, we are configured to run a flight build.

src/slate.h → src/common/slate.h

@@ -11,10 +11,13 @@
 
 #pragma once
 
-#include "drivers/rfm9x.h"
 #include "pico/types.h"
 #include "pico/util/queue.h"
-#include "scheduler/scheduler.h"
+
+#include "typedefs.h"
+#include "state_machine.h"
+
+#include "rfm9x.h"
 
 typedef struct samwise_slate
 {

src/common/state_machine.h

@@ -0,0 +1,64 @@
+#pragma once
+
+#include <stdlib.h>
+
+#include "typedefs.h"
+#include "slate.h"
+
+#define MAX_TASKS_PER_STATE 10
+
+/**
+ * Holds the info for a single task. A single task can belong to multiple
+ * states.
+ */
+typedef struct sched_task
+{
+    /**
+     * Friendly name for the task.
+     */
+    const char *name;
+
+    /**
+     * Minimum number of milliseconds between dispatches of this task.
+     */
+    const uint32_t dispatch_period_ms;
+
+    /**
+     * Earliest time this task can be dispatched.
+     */
+    absolute_time_t next_dispatch;
+
+    /**
+     * Called once when the task initializes.
+     * @param slate     Pointer to the current satellite slate
+     */
+    void (*task_init)(slate_t *slate);
+
+    /**
+     * Called each time the task dispatches.
+     * @param slate     Pointer to the current satellite slate
+     */
+    void (*task_dispatch)(slate_t *slate);
+
+} sched_task_t;
+
+/**
+ * Holds the info for defining a state.
+ */
+typedef struct sched_state
+{
+    /**
+     * Friendly name for the state.
+     */
+    const char *name;
+
+    size_t num_tasks;
+    sched_task_t *task_list[MAX_TASKS_PER_STATE];
+
+    /**
+     * Called each time the state dispatches.
+     * @param slate     Pointer to the current satellite slate
+     * @return The next state to transition to
+     */
+    struct sched_state *(*get_next_state)(slate_t *slate);
+} sched_state_t;

src/common/typedefs.h

@@ -0,0 +1,4 @@
+typedef struct samwise_slate slate_t;
+typedef struct sched_state sched_state_t;
+typedef struct sched_task sched_task_t;
+typedef struct _rfm9x rfm9x_t;

src/drivers/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(rfm9x)

src/drivers/rfm9x/CMakeLists.txt

@@ -0,0 +1,8 @@
+add_library(rfm9x rfm9x.c)
+
+target_link_libraries(rfm9x PRIVATE error pico_stdlib hardware_spi)
+
+target_include_directories(rfm9x PUBLIC 
+  "${PROJECT_SOURCE_DIR}/src/common"
+  "${PROJECT_SOURCE_DIR}/src/common/error"
+)

src/drivers/rfm9x/rfm9x.c

@@ -1,10 +1,4 @@
 #include "rfm9x.h"
-#include "bit-support.h"
-#include "hardware/resets.h"
-#include "hardware/spi.h"
-#include "pico/time.h"
-#include "src/macros.h"
-#include <string.h>
 
 rfm9x_t rfm9x_mk(spi_inst_t *spi, uint reset_pin, uint cs_pin, uint spi_tx_pin,
                  uint spi_rx_pin, uint spi_clk_pin, uint d0_pin,

src/drivers/rfm9x/rfm9x.h

@@ -1,7 +1,13 @@
 #pragma once
 
+#include "hardware/resets.h"
 #include "hardware/spi.h"
+
 #include "pico/stdlib.h"
+#include "pico/time.h"
+
+#include "bit-support.h"
+#include "macros.h"
 
 #define PACKET_SIZE 256
 #define PAYLOAD_SIZE 251

src/init.c

@@ -8,9 +8,6 @@
  */
 
 #include "init.h"
-#include "macros.h"
-#include "pico/stdlib.h"
-#include "scheduler/scheduler.h"
 
 /**
  * Initialize all gpio pins to their default states.

src/init.h

@@ -3,6 +3,14 @@
  * @date    2024-08-27
  */
 
+#pragma once
+
+#include "pico/stdlib.h"
+
+#include "macros.h"
 #include "slate.h"
+#include "state_machine.h"
+
+#include "scheduler.h"
 
-bool init(slate_t *slate);
+bool init(slate_t *slate);

src/main.c

@@ -5,12 +5,7 @@
  * This file contains the main entry point for the SAMWISE flight code.
  */
 
-#include "drivers/rfm9x.h"
-#include "init.h"
-#include "macros.h"
-#include "pico/stdlib.h"
-#include "scheduler/scheduler.h"
-#include "slate.h"
+#include "main.h"
 
 /**
  * Statically allocate the slate.

src/main.h

@@ -0,0 +1,12 @@
+#pragma once
+
+#include "pico/stdlib.h"
+
+#include "macros.h"
+#include "slate.h"
+#include "state_machine.h"
+
+#include "init.h"
+
+#include "rfm9x.h"
+#include "scheduler.h"

src/scheduler/CMakeLists.txt

@@ -0,0 +1,12 @@
+add_library(scheduler scheduler.c)
+target_link_libraries(scheduler PUBLIC pico_stdlib hardware_spi init_state running_state error)
+
+target_include_directories(scheduler PUBLIC
+  "${PROJECT_SOURCE_DIR}/src/common"
+  "${PROJECT_SOURCE_DIR}/src/states/init"
+  "${PROJECT_SOURCE_DIR}/src/states/running"
+)
+
+# Debug message to print the list of include directories for state_machine
+get_target_property(INCLUDE_DIRS scheduler INCLUDE_DIRECTORIES)
+message("[state_machine] Include directories: ${INCLUDE_DIRS}")

src/scheduler/scheduler.c

@@ -7,16 +7,16 @@
  */
 
 #include "scheduler.h"
-#include "macros.h"
-#include "pico/time.h"
-#include "slate.h"
 
-/*
- * Include the actual state machine
+/**
+ * List of all states. We need this because we cannot enumerate all states at
+ * runtime.
+ *
+ * Note: For each state, the order of the task list determines priority. Tasks
+ * nearer the top have higher priority.
  */
-#include "state_machine/states/states.h"
-#include "state_machine/tasks/tasks.h"
-
+static const sched_state_t *all_states[] = {&init_state, &running_state};
+static sched_state_t *const initial_state = &init_state;
 static size_t n_tasks = 0;
 static sched_task_t *all_tasks[num_states * MAX_TASKS_PER_STATE];