adding in CI job to check compilation of the shared types

Author: RCMast3r

.github/workflows/verify_compile.yml

@@ -0,0 +1,16 @@
+name: Compile C++
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v3
+
+    - name: Install build tools
+      run: sudo apt-get update && sudo apt-get install -y g++
+
+    - name: Compile main.cpp
+      run: g++ -o main include/main.cpp

include/SharedFirmwareTypes.h

@@ -361,25 +361,30 @@ struct TorqueControllerMuxStatus_s
 
 
 
-/// @brief Stores setpoints for a command to the Drivetrain, containing speed and torque setpoints for each motor. These setpoints are defined in the torque controllers cycled by the TC Muxer. 
+/// @brief Stores setpoints for a command to the Drivetrain, containing speed setpoints and torque limits for each motor. These setpoints are defined in the torque controllers cycled by the TC Muxer. 
 /// The Speeds unit is rpm and are the targeted speeds for each wheel of the car.
 /// The torques unit is nm and is the max torque requested from the inverter to reach such speeds.
-struct DrivetrainCommand_s
+struct DrivetrainSpeedCommand_s
 {
     veh_vec<speed_rpm> desired_speeds;
     veh_vec<torque_nm> torque_limits;
 };
 
+struct DrivetrainTorqueCommand_s
+{
+    veh_vec<torque_nm> torque_limits;
+    veh_vec<torque_nm> torque_setpoints;
+};
 
-struct StampedDrivetrainCommand_s
+struct StampedDrivetrainTorqueCommand_s
 {
-    StampedVehVec<speed_rpm> desired_speeds;
-    StampedVehVec<torque_nm> torque_limits;
+    StampedVehVec<speed_rpm> torque_limits;
+    StampedVehVec<torque_nm> torque_setpoints;
 
-    DrivetrainCommand_s get_command()
+    DrivetrainTorqueCommand_s get_command()
     {
-        return {.desired_speeds = desired_speeds.veh_vec_data, 
-                .torque_limits = torque_limits.veh_vec_data};
+        return {.torque_limits= torque_limits.veh_vec_data, 
+                .torque_setpoints = torque_setpoints.veh_vec_data};
     }
 };
 
@@ -566,7 +571,7 @@ struct VCRInterfaceData_s
     DashInputState_s dash_input_state = {};
     StampedACUCoreData_s stamped_acu_core_data = {};
     ACUAllDataType_s acu_all_data = {};
-    StampedDrivetrainCommand_s latest_drivebrain_command = {};
+    StampedDrivetrainTorqueCommand_s latest_drivebrain_command = {};
 };
 
 struct VCRData_s

library.json

@@ -13,6 +13,7 @@
         "email": "justin@goliath.org"
       }
     ],
+    "exclude": "verify_compile.cpp",
     "frameworks": "*",
     "platforms": "*"
 }

verify_compile.cpp

@@ -0,0 +1,6 @@
+#include "include/SharedFirmwareTypes.h"
+
+int main()
+{
+    return 0;
+}