Simple CAN based HIL

hil_config/presets.json

@@ -0,0 +1,3 @@
+{
+	"All Heartbeats": [ "heartbeats_crit", "heartbeats_non_crit" ]
+}

hil_config/schema.json

@@ -0,0 +1,86 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "type": "object",
+
+  "required": ["name", "description", "expect"],
+
+  "properties": {
+	"$schema": {
+	  "type": "string"
+	},
+
+    "name": {
+      "type": "string"
+    },
+
+    "description": {
+      "type": "string"
+    },
+
+    "tx": {
+      "type": "array",
+      "items": {
+        "type": "object",
+        "required": ["timestamp", "msg_name", "signals"],
+
+        "properties": {
+          "timestamp": {
+            "type": "number"
+          },
+
+          "msg_name": {
+            "type": "string"
+          },
+
+          "signals": {
+            "type": "object",
+            "additionalProperties": {
+              "type": "number"
+            }
+          }
+        },
+
+        "additionalProperties": false
+      }
+    },
+
+    "expect": {
+      "type": "array",
+      "items": {
+        "type": "object",
+        "required": ["window", "msg_name"],
+
+        "properties": {
+          "window": {
+			"type": "array",
+			"items": {
+			  "type": "number"
+			},
+			"minItems": 2,
+			"maxItems": 2
+		  },
+
+          "msg_name": {
+            "type": "string"
+          },
+
+          "signals": {
+            "type": "object",
+            "additionalProperties": {
+              "type": "array",
+              "items": {
+                "type": "number"
+              },
+              "minItems": 2,
+              "maxItems": 2
+            }
+          }
+        },
+
+        "additionalProperties": false
+      }
+    }
+  },
+
+  "additionalProperties": false
+}

hil_config/tests/heartbeats_crit.json

@@ -0,0 +1,25 @@
+{
+	"$schema": "../schema.json",
+
+	"name": "Critical Heartbeats",
+	"description": "Check that we receive a heartbeat (version hash) from every drive critical board",
+
+	"expect": [
+		{
+			"window": [0, 10000],
+			"msg_name": "abox_version"
+		},
+		{
+			"window": [0, 10000],
+			"msg_name": "dash_version"
+		},
+		{
+			"window": [0, 10000],
+			"msg_name": "main_version"
+		},
+		{
+			"window": [0, 10000],
+			"msg_name": "pdu_version"
+		}
+	]
+}

hil_config/tests/heartbeats_non_crit.json

@@ -0,0 +1,17 @@
+{
+	"$schema": "../schema.json",
+
+	"name": "Non-Critical Heartbeats",
+	"description": "Check that we receive a heartbeat (version hash) from non-critical boards",
+
+	"expect": [
+		{
+			"window": [0, 10000],
+			"msg_name": "front_driveline_version"
+		},
+		{
+			"window": [0, 10000],
+			"msg_name": "rear_driveline_version"
+		}
+	]
+}

hil_config/tests/idk.json

@@ -0,0 +1,27 @@
+{
+	"$schema": "../schema.json",
+
+	"name": "Pack sanity check",
+	"description": "Verify thermistor response",
+
+	"tx": [
+		{
+			"timestamp": 15,
+			"msg_name": "pack_stats",
+			"signals": {
+				"pack_voltage": 540.0,
+				"pack_current": 10.0,
+				"max_temp": 35.0
+			}
+		}
+	],
+	"expect": [
+		{
+			"window": [15, 20],
+			"msg_name": "thermistor_telemetry",
+			"signals": {
+				"temperature": [30.0, 40.0]
+			}
+		}
+	]
+}

src/action.rs

@@ -25,6 +25,7 @@ pub enum WidgetType {
     GgPlot,
     Dynamics,
     Jitter,
+    Hil,
 }
 
 impl AppAction {
@@ -41,6 +42,7 @@ impl AppAction {
             ("Spawn G-G Plot", WidgetType::GgPlot),
             ("Spawn Dynamics", WidgetType::Dynamics),
             ("Spawn Jitter", WidgetType::Jitter),
+            ("Spawn HIL", WidgetType::Hil),
         ]
     }
 }

src/app.rs

@@ -51,6 +51,7 @@ pub struct DAQApp {
     pub next_gg_plot_num: usize,
     pub next_dynamics_num: usize,
     pub next_jitter_num: usize,
+    pub next_hil_num: usize,
     pub can_to_ui_rx: std::sync::mpsc::Receiver<messages::MsgFromCan>,
     pub ui_to_can_tx: std::sync::mpsc::Sender<messages::MsgFromUi>,
     pub action_queue: Vec<action::AppAction>,
@@ -107,6 +108,7 @@ impl DAQApp {
             next_gg_plot_num: 1,
             next_dynamics_num: 1,
             next_jitter_num: 1,
+            next_hil_num: 1,
             can_to_ui_rx,
             ui_to_can_tx,
             action_queue: Vec::new(),
@@ -211,6 +213,9 @@ impl DAQApp {
                     action::WidgetType::Jitter => {
                         widgets::Widget::Jitter(ui::jitter::Jitter::new(self.next_jitter_num))
                     }
+                    action::WidgetType::Hil => {
+                        widgets::Widget::Hil(ui::hil::Hil::new(self.next_hil_num))
+                    }
                 };
                 self.add_widget_to_tree(widget);
 
@@ -252,6 +257,9 @@ impl DAQApp {
                     action::WidgetType::Jitter => {
                         self.next_jitter_num += 1;
                     }
+                    action::WidgetType::Hil => {
+                        self.next_hil_num += 1;
+                    }
                 }
             }
             action::AppAction::ToggleSidebar => {

src/hil/config.rs

@@ -0,0 +1,159 @@
+// Read HIL config files (preset and tests)
+
+use serde::{Deserialize, Serialize};
+use std::collections::HashMap;
+
+pub const PRESETS_FILE: &str = "hil_config/presets.json";
+pub const TESTS_FOLDER: &str = "hil_config/tests/";
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+#[serde(transparent)]
+pub struct PresetsFile(pub HashMap<String, Vec<String>>);
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct TestFile {
+    pub name: String,
+    pub description: String,
+
+    #[serde(default)]
+    pub tx: Vec<TxMessage>,
+
+    pub expect: Vec<Expectation>,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct TxMessage {
+    pub timestamp: f64,
+    pub msg_name: String,
+
+    pub signals: HashMap<String, f64>,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct Expectation {
+    pub window: [f64; 2],
+
+    pub msg_name: String,
+
+    #[serde(default)]
+    pub signals: HashMap<String, [f64; 2]>,
+}
+
+#[derive(Clone)]
+pub struct PresetInfo {
+    pub name: String,
+    // base names
+    pub tests: Vec<String>,
+}
+
+#[derive(Clone)]
+pub struct TestInfo {
+    pub basename: String,
+    pub name: String,
+    pub description: String,
+}
+
+pub fn list_available_tests() -> (Vec<PresetInfo>, Vec<TestInfo>, Vec<String>) {
+    let mut errors = Vec::new();
+
+    // Load individual tests
+    let mut individual_tests = Vec::new();
+    if let Ok(entries) = std::fs::read_dir(TESTS_FOLDER) {
+        for entry in entries.flatten() {
+            let path = entry.path();
+            if !path.is_file() || path.extension().and_then(|e| e.to_str()) != Some("json") {
+                continue;
+            }
+
+            let basename = match path.file_stem().and_then(|s| s.to_str()) {
+                Some(stem) if !stem.is_empty() => stem.to_string(),
+                _ => {
+                    errors.push(format!(
+                        "Failed to determine test basename for file: {:?}",
+                        path
+                    ));
+                    continue;
+                }
+            };
+
+            let content = match std::fs::read_to_string(&path) {
+                Ok(c) => c,
+                Err(_) => {
+                    errors.push(format!("Failed to read test file: {:?}", path));
+                    continue;
+                }
+            };
+
+            match serde_json::from_str::<TestFile>(&content) {
+                Ok(test_data) => individual_tests.push(TestInfo {
+                    basename,
+                    name: test_data.name,
+                    description: test_data.description,
+                }),
+                Err(_) => errors.push(format!("Failed to parse test file: {:?}", path)),
+            };
+        }
+    } else {
+        errors.push(format!("Failed to read tests directory: {}", TESTS_FOLDER));
+    }
+    individual_tests.sort_by(|a, b| a.basename.to_lowercase().cmp(&b.basename.to_lowercase()));
+
+    // Load presets
+    let mut presets = Vec::new();
+    if let Ok(presets_file) = std::fs::read_to_string(PRESETS_FILE) {
+        if let Ok(presets_data) = serde_json::from_str::<PresetsFile>(&presets_file) {
+            for (preset_name, subtests) in presets_data.0 {
+                if subtests.is_empty() {
+                    errors.push(format!("Preset '{}' has no subtests defined", preset_name));
+                    continue;
+                }
+
+                if subtests.iter().any(|s| s.trim().is_empty()) {
+                    errors.push(format!(
+                        "Preset '{}' contains empty subtest names",
+                        preset_name
+                    ));
+                    continue;
+                }
+
+                if subtests
+                    .iter()
+                    .any(|s| individual_tests.iter().all(|t| t.basename != *s))
+                {
+                    errors.push(format!(
+                        "Preset '{}' contains subtests that do not exist: {:?}",
+                        preset_name,
+                        subtests
+                            .iter()
+                            .filter(|s| individual_tests.iter().all(|t| t.basename != **s))
+                            .collect::<Vec<_>>()
+                    ));
+                    continue;
+                }
+
+                presets.push(PresetInfo {
+                    name: preset_name,
+                    tests: subtests,
+                });
+            }
+        } else {
+            errors.push(format!("Failed to parse presets file: {}", PRESETS_FILE));
+        }
+    } else {
+        errors.push(format!("Failed to read presets file: {}", PRESETS_FILE));
+    }
+    presets.sort_by(|a, b| a.name.to_lowercase().cmp(&b.name.to_lowercase()));
+
+    (presets, individual_tests, errors)
+}
+
+pub fn load_test_from_file(basename: &str) -> Result<TestFile, String> {
+    let path = format!("{}{}.json", TESTS_FOLDER, basename);
+    match std::fs::read_to_string(&path) {
+        Ok(content) => match serde_json::from_str::<TestFile>(&content) {
+            Ok(test_data) => Ok(test_data),
+            Err(_) => Err(format!("Failed to parse test file: {}", path)),
+        },
+        Err(_) => Err(format!("Failed to read test file: {}", path)),
+    }
+}

src/hil/mod.rs

@@ -0,0 +1,2 @@
+pub mod config;
+pub mod run;