Simulink to C++ - Driver Interface

[BlakeFreer]

Development Instructions

Our control system is current writting in Simulink. We are converting it to C++. This task converts the DriverInterface model which is responsible for processing driver inputs (steering wheel angle, accelerator / brake pedal positions, brake lights, etc).

You will fill in a class which has an .Update() method to represent the DriverInterface behaviour.

Setup

1. Clone this repo https://github.com/macformula/vehicle_control_system
2. Open the folder in Matlab r2022b. You will need Simulink installed.
3. In the Matlab file explorer, right click on the src/ folder and click Add to path -> Selected folders and subfolders.

   You may need to do this each time you open Matlab.

4. Open src/controller.slx. Find the blue driver_interface block. This is what you will be recreating in C++.

Development

1. In driver_interface.hpp, define structs for the input and outputs (shows as variables on the left and right sides of the block, respectively).
   • You may need to define "enum classes" for the GOV_ input/outputs. See src/enums in the repo.
   • You can omit DI_*_ prefix to the variables. However, use the * character (meaning wildcard in the previous expression) to figure out the variable data type (p and V means float, b meens bool, and e mean enum).
   • Variable names should be in lower_snake_case following the style guide.
2. Double click on the DI block in Simulink to see inside. Implement this behaviour inside the .Update function in the driver_interface.cc file.
3. Write tests in driver_interface_test.cc. See example.

Notes

Most of the functions inside the DI block are implemented in the shared/controls folder. You should #include the relevant files and call those functions.

For example, the yellow Finite State Machine is implemented in shared/controls/driver_interface_fsm.hpp. The potentiometerProcessing block is roughly implemented as isInRange() in shared/controls/driver_interface_error_handling.h.

However, some of the functions are very simple and you can choose to "inline" them (implement directly as code instead of calling a function). The function in shared/controls/steering_angle.h is a good candidate for inlining

Resources

See the AMK, BatteryMonitor, and Simple_VD PRs for inspiration. They are implementing other blocks in the Simulink model.