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Merged
BlakeFreer merged 1 commit into from
Nov 24, 2025
Merged

Define a polling helper to simplify LV Startup #120

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103 changes: 1 addition & 102 deletions macformula/ecu/lvcontroller/client.go
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,7 @@ func NewClient(pc *pinout.Controller, l *zap.Logger) *Client {
}
}

// ReadTsalEn reads the TSAL enable pin.
func (c *Client) ReadTsalEn() (bool, error) {
func (c *Client) ReadDigital(pin pinout.PhysicalIo) (bool, error) {
lvl, err := c.pinController.ReadDigitalLevel(pinout.TsalEn)
if err != nil {
return false, errors.Wrap(err, "read digital level")
Expand All @@ -35,106 +34,6 @@ func (c *Client) ReadTsalEn() (bool, error) {
return lvl, nil
}

// ReadRaspiOn reads the Raspi enable pin.
func (c *Client) ReadRaspiOn() (bool, error) {
lvl, err := c.pinController.ReadDigitalLevel(pinout.RaspiEn)
if err != nil {
return false, errors.Wrap(err, "read digital level")
}

return lvl, nil
}

// ReadFrontControllerOn reads the front controller enable pin.
func (c *Client) ReadFrontControllerOn() (bool, error) {
lvl, err := c.pinController.ReadDigitalLevel(pinout.FrontControllerEn)
if err != nil {
return false, errors.Wrap(err, "read digital level")
}

return lvl, nil
}

// ReadSpeedgoatOn reads the Speedgoat enable pin.
func (c *Client) ReadSpeedgoatOn() (bool, error) {
lvl, err := c.pinController.ReadDigitalLevel(pinout.SpeedgoatEn)
if err != nil {
return false, errors.Wrap(err, "read digital level")
}

return lvl, nil
}

// ReadAccumulatorOn reads the accumulator enable pin.
func (c *Client) ReadAccumulatorOn() (bool, error) {
lvl, err := c.pinController.ReadDigitalLevel(pinout.AccumulatorEn)
if err != nil {
return false, errors.Wrap(err, "read digital level")
}

return lvl, nil
}

// ReadMotorControllerPrechargeOn reads the motor controller precharge enable pin.
func (c *Client) ReadMotorControllerPrechargeOn() (bool, error) {
lvl, err := c.pinController.ReadDigitalLevel(pinout.MotorControllerPrechargeEn)
if err != nil {
return false, errors.Wrap(err, "read digital level")
}

return lvl, nil
}

// ReadMotorControllerOn reads the motor controller enable pin.
func (c *Client) ReadMotorControllerOn() (bool, error) {
lvl, err := c.pinController.ReadDigitalLevel(pinout.MotorControllerEn)
if err != nil {
return false, errors.Wrap(err, "read digital level")
}

return lvl, nil
}

// ReadImuGpsOn reads the IMU/GPS enable pin.
func (c *Client) ReadImuGpsOn() (bool, error) {
lvl, err := c.pinController.ReadDigitalLevel(pinout.ImuGpsEn)
if err != nil {
return false, errors.Wrap(err, "read digital level")
}

return lvl, nil
}

// ReadShutdownCircuitOn reads the shutdown circuit enable pin.
func (c *Client) ReadShutdownCircuitOn() (bool, error) {
lvl, err := c.pinController.ReadDigitalLevel(pinout.ShutdownCircuitEn)
if err != nil {
return false, errors.Wrap(err, "read digital level")
}

return lvl, nil
}

// ReadInverterSwitchOn reads the inverter switch enable pin.
func (c *Client) ReadInverterSwitchOn() (bool, error) {
lvl, err := c.pinController.ReadDigitalLevel(pinout.InverterSwitchEn)
if err != nil {
return false, errors.Wrap(err, "read digital level")
}

return lvl, nil
}

// ReadDcdcOn reads the DCDC enable pin.
func (c *Client) ReadDcdcOn() (bool, error) {
lvl, err := c.pinController.ReadDigitalLevel(pinout.DcdcEn)
if err != nil {
return false, errors.Wrap(err, "read digital level")
}

return lvl, nil
}

// SetDcdcValid sets the DCDC valid pin.
func (c *Client) SetDcdcValid(b bool) error {
err := c.pinController.SetDigitalLevel(pinout.DcdcValid, b)
Expand Down
48 changes: 31 additions & 17 deletions macformula/state/lvstartup.go
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@ import (
"github.com/macformula/hil/macformula/config"
"github.com/macformula/hil/macformula/ecu/frontcontroller"
"github.com/macformula/hil/macformula/ecu/lvcontroller"
"github.com/macformula/hil/macformula/pinout"
"github.com/macformula/hil/utils"
"github.com/pkg/errors"
)
Expand Down Expand Up @@ -75,55 +76,55 @@ func (l *lvStartup) Run(ctx context.Context) error {

r[tags.PowerCycledTestBench] = true

r[tags.TsalEnabled], r[tags.TsalTimeToEnableMs], err = pollMs(ctx, l.lv.ReadTsalEn, _lvStartupPollTimeout)
r[tags.TsalEnabled], r[tags.TsalTimeToEnableMs], err = pollPinMs(ctx, *l.lv, pinout.TsalEn, _lvStartupPollTimeout)
if err != nil {
return errors.Wrap(err, "poll read tsal on")
}

r[tags.RaspiEnabled], r[tags.RaspiTimeToEnableMs], err = pollMs(ctx, l.lv.ReadRaspiOn, _lvStartupPollTimeout)
r[tags.RaspiEnabled], r[tags.RaspiTimeToEnableMs], err = pollPinMs(ctx, *l.lv, pinout.RaspiEn, _lvStartupPollTimeout)
if err != nil {
return errors.Wrap(err, "poll read raspi on")
}

r[tags.FrontControllerEnabled], r[tags.FrontControllerTimeToEnableMs], err =
pollMs(ctx, l.lv.ReadFrontControllerOn, _lvStartupPollTimeout)
pollPinMs(ctx, *l.lv, pinout.FrontControllerEn, _lvStartupPollTimeout)
if err != nil {
return errors.Wrap(err, "poll read front controller on")
}

r[tags.SpeedgoatEnabled], r[tags.SpeedgoatTimeToEnableMs], err =
pollMs(ctx, l.lv.ReadSpeedgoatOn, _lvStartupPollTimeout)
pollPinMs(ctx, *l.lv, pinout.SpeedgoatEn, _lvStartupPollTimeout)
if err != nil {
return errors.Wrap(err, "poll read speedgoat on")
}

r[tags.AccumulatorEnabled], r[tags.AccumulatorTimeToEnableMs], err =
pollMs(ctx, l.lv.ReadAccumulatorOn, _lvStartupPollTimeout)
pollPinMs(ctx, *l.lv, pinout.AccumulatorEn, _lvStartupPollTimeout)
if err != nil {
return errors.Wrap(err, "poll read accumulator on")
}

r[tags.MotorPrechageEnabled], r[tags.MotorPrechargeTimeToEnableMs], err =
pollMs(ctx, l.lv.ReadMotorControllerPrechargeOn, _lvStartupPollTimeout)
pollPinMs(ctx, *l.lv, pinout.MotorControllerPrechargeEn, _lvStartupPollTimeout)
if err != nil {
return errors.Wrap(err, "poll read motor controller precharge on")
}

r[tags.MotorControllerEnabled], r[tags.MotorControllerTimeToEnable], err =
pollMs(ctx, l.lv.ReadMotorControllerOn, _lvStartupPollTimeout)
pollPinMs(ctx, *l.lv, pinout.MotorControllerEn, _lvStartupPollTimeout)
if err != nil {
return errors.Wrap(err, "poll read motor controller on")
}

r[tags.MotorPrechargeDisabled], r[tags.MotorPrechargeTimeToDisableMs], err =
pollMs(ctx, l.lv.ReadMotorControllerPrechargeOn, _lvStartupPollTimeout, utils.CheckForFalse())
pollPinMs(ctx, *l.lv, pinout.MotorControllerPrechargeEn, _lvStartupPollTimeout, utils.CheckForFalse())
if err != nil {
return errors.Wrap(err, "poll read motor controller precharge on")
}

time.Sleep(2 * time.Second)

shutdownOn, err := l.lv.ReadShutdownCircuitOn()
shutdownOn, err := l.lv.ReadDigital(pinout.ShutdownCircuitEn)
if err != nil {
return errors.Wrap(err, "read shutdown circuit on")
}
Expand All @@ -134,7 +135,7 @@ func (l *lvStartup) Run(ctx context.Context) error {
r[tags.ShutdownCircuitEnabledBeforeCan] = false
}

inverterOn, err := l.lv.ReadInverterSwitchOn()
inverterOn, err := l.lv.ReadDigital(pinout.InverterSwitchEn)
if err != nil {
return errors.Wrap(err, "read inverter switch on")
}
Expand Down Expand Up @@ -163,7 +164,7 @@ func (l *lvStartup) Run(ctx context.Context) error {
return errors.Wrap(err, "send contactor command check shutdown on")
}

inverterOn, err = l.lv.ReadInverterSwitchOn()
inverterOn, err = l.lv.ReadDigital(pinout.InverterSwitchEn)
if err != nil {
return errors.Wrap(err, "read inverter switch on")
}
Expand All @@ -174,7 +175,7 @@ func (l *lvStartup) Run(ctx context.Context) error {
r[tags.InverterSwitchEnabledBeforeClosedContactors] = false
}

dcdcEnabled, err := l.lv.ReadDcdcOn()
dcdcEnabled, err := l.lv.ReadDigital(pinout.DcdcEn)
if err != nil {
return errors.Wrap(err, "read dcdc on")
}
Expand All @@ -192,7 +193,7 @@ func (l *lvStartup) Run(ctx context.Context) error {

time.Sleep(1 * time.Second)

r[tags.DcdcEnabledAfterContactorsClosed], err = l.lv.ReadDcdcOn()
r[tags.DcdcEnabledAfterContactorsClosed], err = l.lv.ReadDigital(pinout.DcdcEn)
if err != nil {
return errors.Wrap(err, "read dcdc on")
}
Expand All @@ -202,7 +203,7 @@ func (l *lvStartup) Run(ctx context.Context) error {
return errors.Wrap(err, "set dcdc valid")
}

inverterOn, err = l.lv.ReadInverterSwitchOn()
inverterOn, err = l.lv.ReadDigital(pinout.InverterSwitchEn)
if err != nil {
return errors.Wrap(err, "read inverter switch on")
}
Expand All @@ -218,8 +219,8 @@ func (l *lvStartup) Run(ctx context.Context) error {
return errors.Wrap(err, "command inverter")
}

r[tags.InverterSwitchEnabled], r[tags.InverterSwitchTimeToEnable], err = pollMs(
ctx, l.lv.ReadInverterSwitchOn, _lvStartupPollTimeout)
r[tags.InverterSwitchEnabled], r[tags.InverterSwitchTimeToEnable], err = pollPinMs(
ctx, *l.lv, pinout.InverterSwitchEn, _lvStartupPollTimeout)
if err != nil {
return errors.Wrap(err, "poll read inverter switch on")
}
Expand Down Expand Up @@ -261,7 +262,7 @@ func (l *lvStartup) sendContactorCommandCheckShutdownOn(ctx context.Context,
return false, errors.Wrap(err, "command contactors")
}

lvl, err := l.lv.ReadShutdownCircuitOn()
lvl, err := l.lv.ReadDigital(pinout.ShutdownCircuitEn)
if err != nil {
return false, errors.Wrap(err, "read shutdown circuit on")
}
Expand All @@ -282,3 +283,16 @@ func pollMs(ctx context.Context,
valid, duration, err := utils.Poll(ctx, checkFunc, timeout, opts...)
return valid, int(duration.Milliseconds()), errors.Wrap(err, "poll")
}

func pollPinMs(ctx context.Context,
client lvcontroller.Client,
pin pinout.PhysicalIo,
timeout time.Duration,
opts ...utils.PollOption) (bool, int, error) {

checkFunc := func() (bool, error) {
return client.ReadDigital(pin)
}

return pollMs(ctx, checkFunc, timeout, opts...)
}
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