Fixes for disabling JSONCAN messages/alerts + improve FSM alerts (#1312)

Fix my shitty code + add more FSM alerts so they give us more information about brake OCSC.
UBCFormulaElectric · Jun 11, 2024 · eee2839 · eee2839
1 parent 9010915
commit eee2839
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Showing 7 changed files with 85 additions and 46 deletions.
diff --git a/can_bus/quadruna/FSM/FSM_alerts.json b/can_bus/quadruna/FSM/FSM_alerts.json
@@ -64,9 +64,17 @@
             "id": 315,
             "description": "Rear brake pressure out of range."
         },
-        "BrakePressureSensorOCSC": {
+        "FrontBrakePressureOcSc": {
             "id": 316,
-            "description": "Brake pressure sensor voltage out of acceptable range (OCSC)."
+            "description": "Front brake pressure sensor voltage out of acceptable range (OCSC)."
+        },
+        "RearBrakePressureOcSc": {
+            "id": 322,
+            "description": "Rear brake pressure sensor voltage out of acceptable range (OCSC)."
+        },
+        "BrakeOcScNotOk": {
+            "id": 323,
+            "description": "BRAKE_OCSC_OK line routed to BMS for BSPD is not OK."
         },
         "LeftSuspensionOCSC": {
             "id": 317,
@@ -77,10 +85,12 @@
             "description": "Right suspension sensor voltage out of acceptable range (OCSC)."
         },
         "LoadCell1OCSC": {
+            "disabled": true,
             "id": 320,
             "description": "Load cell 1 sensor voltage out of acceptable range (OCSC)."
         },
         "LoadCell2OCSC": {
+            "disabled": true,
             "id": 321,
             "description": "Load cell 2 sensor voltage out of acceptable range (OCSC)."
         }

diff --git a/firmware/quadruna/FSM/src/app/app_brake.c b/firmware/quadruna/FSM/src/app/app_brake.c
@@ -26,7 +26,7 @@ void app_brake_broadcast(void)
     app_canTx_FSM_RearBrakePressure_set((uint32_t)roundf(rear_pressure));
     app_canAlerts_FSM_Warning_RearBrakePressureOutOfRange_set(rear_pressure_status.status != VALUE_IN_RANGE);
 
-    const bool brake_pressure_ocsc =
-        io_brake_frontPressureSensorOCSC() || io_brake_rearPressureSensorOCSC() || io_brake_hwOCSC();
-    app_canAlerts_FSM_Warning_BrakePressureSensorOCSC_set(brake_pressure_ocsc);
+    app_canAlerts_FSM_Warning_FrontBrakePressureOcSc_set(io_brake_frontPressureSensorOCSC());
+    app_canAlerts_FSM_Warning_RearBrakePressureOcSc_set(io_brake_rearPressureSensorOCSC());
+    app_canAlerts_FSM_Warning_BrakeOcScNotOk_set(io_brake_hwOCSC());
 }
diff --git a/firmware/quadruna/FSM/src/app/app_loadCell.c b/firmware/quadruna/FSM/src/app/app_loadCell.c
@@ -8,6 +8,6 @@ void app_loadCell_broadcast(void)
     app_canTx_FSM_LoadCell1_set(io_loadCell_getMechanicalLoad1());
     app_canTx_FSM_LoadCell2_set(io_loadCell_getMechanicalLoad2());
 
-    app_canAlerts_FSM_Warning_LoadCell1OCSC_set(io_loadCell_sensor1OCSC());
-    app_canAlerts_FSM_Warning_LoadCell2OCSC_set(io_loadCell_sensor2OCSC());
+    // app_canAlerts_FSM_Warning_LoadCell1OCSC_set(io_loadCell_sensor1OCSC());
+    // app_canAlerts_FSM_Warning_LoadCell2OCSC_set(io_loadCell_sensor2OCSC());
 }
diff --git a/firmware/quadruna/FSM/test/test_app.cpp b/firmware/quadruna/FSM/test/test_app.cpp
@@ -71,10 +71,12 @@ TEST_F(FsmAppTest, check_brake_can_signals)
 
     // front pressure and rear pressure both cause "pressure OCSC" behaviour
     CheckBinaryStatusCanSignal(
-        fake_io_brake_frontPressureSensorOCSC_returns, app_canAlerts_FSM_Warning_BrakePressureSensorOCSC_get);
+        fake_io_brake_frontPressureSensorOCSC_returns, app_canAlerts_FSM_Warning_FrontBrakePressureOcSc_get);
 
     CheckBinaryStatusCanSignal(
-        fake_io_brake_rearPressureSensorOCSC_returns, app_canAlerts_FSM_Warning_BrakePressureSensorOCSC_get);
+        fake_io_brake_rearPressureSensorOCSC_returns, app_canAlerts_FSM_Warning_RearBrakePressureOcSc_get);
+
+    CheckBinaryStatusCanSignal(fake_io_brake_hwOCSC_returns, app_canAlerts_FSM_Warning_BrakeOcScNotOk_get);
 }
 
 TEST_F(FsmAppTest, check_steering_angle_can_signals)

diff --git a/firmware/quadruna/FSM/test/test_faults.cpp b/firmware/quadruna/FSM/test/test_faults.cpp
@@ -267,34 +267,34 @@ TEST_F(FsmFaultsTest, right_suspension_ocsc_sets_warning)
     ASSERT_FALSE(app_canAlerts_FSM_Warning_RightSuspensionOCSC_get());
 }
 
-TEST_F(FsmFaultsTest, load_cell_1_ocsc_sets_warning)
-{
-    fake_io_loadCell_sensor1OCSC_returns(true);
-    LetTimePass(10);
-    ASSERT_TRUE(app_canAlerts_FSM_Warning_LoadCell1OCSC_get());
-
-    // Confirm set indefinitely
-    LetTimePass(1000);
-    ASSERT_TRUE(app_canAlerts_FSM_Warning_LoadCell1OCSC_get());
-
-    // Clear condition, confirm warning resets
-    fake_io_loadCell_sensor1OCSC_returns(false);
-    LetTimePass(10);
-    ASSERT_FALSE(app_canAlerts_FSM_Warning_LoadCell1OCSC_get());
-}
-
-TEST_F(FsmFaultsTest, load_cell_2_ocsc_sets_warning)
-{
-    fake_io_loadCell_sensor2OCSC_returns(true);
-    LetTimePass(10);
-    ASSERT_TRUE(app_canAlerts_FSM_Warning_LoadCell2OCSC_get());
-
-    // Confirm set indefinitely
-    LetTimePass(1000);
-    ASSERT_TRUE(app_canAlerts_FSM_Warning_LoadCell2OCSC_get());
-
-    // Clear condition, confirm warning resets
-    fake_io_loadCell_sensor2OCSC_returns(false);
-    LetTimePass(10);
-    ASSERT_FALSE(app_canAlerts_FSM_Warning_LoadCell2OCSC_get());
-}
+// TEST_F(FsmFaultsTest, load_cell_1_ocsc_sets_warning)
+// {
+//     fake_io_loadCell_sensor1OCSC_returns(true);
+//     LetTimePass(10);
+//     ASSERT_TRUE(app_canAlerts_FSM_Warning_LoadCell1OCSC_get());
+
+//     // Confirm set indefinitely
+//     LetTimePass(1000);
+//     ASSERT_TRUE(app_canAlerts_FSM_Warning_LoadCell1OCSC_get());
+
+//     // Clear condition, confirm warning resets
+//     fake_io_loadCell_sensor1OCSC_returns(false);
+//     LetTimePass(10);
+//     ASSERT_FALSE(app_canAlerts_FSM_Warning_LoadCell1OCSC_get());
+// }
+
+// TEST_F(FsmFaultsTest, load_cell_2_ocsc_sets_warning)
+// {
+//     fake_io_loadCell_sensor2OCSC_returns(true);
+//     LetTimePass(10);
+//     ASSERT_TRUE(app_canAlerts_FSM_Warning_LoadCell2OCSC_get());
+
+//     // Confirm set indefinitely
+//     LetTimePass(1000);
+//     ASSERT_TRUE(app_canAlerts_FSM_Warning_LoadCell2OCSC_get());
+
+//     // Clear condition, confirm warning resets
+//     fake_io_loadCell_sensor2OCSC_returns(false);
+//     LetTimePass(10);
+//     ASSERT_FALSE(app_canAlerts_FSM_Warning_LoadCell2OCSC_get());
+// }
diff --git a/scripts/code_generation/jsoncan/src/json_parsing/json_can_parsing.py b/scripts/code_generation/jsoncan/src/json_parsing/json_can_parsing.py
@@ -446,20 +446,24 @@ def _parse_node_alerts(self, node: str, alerts_json: AlertsJson):
         warnings = {
             name: alert
             for name, alert in alerts_json["warnings"].items()
-            if self._get_optional_value(data=alert, key="disabled", default=False)
+            if not self._get_optional_value(data=alert, key="disabled", default=False)[
+                0
+            ]
         }
         faults = {
             name: alert
             for name, alert in alerts_json["faults"].items()
-            if self._get_optional_value(data=alert, key="disabled", default=False)
+            if not self._get_optional_value(data=alert, key="disabled", default=False)[
+                0
+            ]
         }
 
         # Number of alerts can't exceed 21. This is because we transmit a "counts" message for faults and warnings
         # that indicate the number of times an alert has been set. Each signal is allocated 3 bits, and so can count
         # up to 8, meaning we can pack 21 alerts to fit inside a 64-bit CAN payload.
         if max(len(warnings), len(faults)) > 21:
             raise InvalidCanJson(
-                f"Number of alerts for node '{node}' cannot exceed 64."
+                f"Number of alerts for node '{node}' cannot exceed 21."
             )
 
         # Check alert messages ID are unique

diff --git a/scripts/code_generation/jsoncan/src/json_parsing/schema_validation.py b/scripts/code_generation/jsoncan/src/json_parsing/schema_validation.py
@@ -135,13 +135,36 @@ class AlertsJson(TypedDict):
 alerts_schema = Schema(
     Or(
         {
-            Optional("disabled"): bool,
             "warnings_id": And(int, lambda x: x >= 0),
             "warnings_counts_id": And(int, lambda x: x >= 0),
             "faults_id": And(int, lambda x: x >= 0),
             "faults_counts_id": And(int, lambda x: x >= 0),
-            "warnings": Or({}, {str: Or({}, {"id": int, "description": str})}),
-            "faults": Or({}, {str: Or({}, {"id": int, "description": str})}),
+            "warnings": Or(
+                {},
+                {
+                    str: Or(
+                        {},
+                        {
+                            "id": int,
+                            "description": str,
+                            Optional("disabled"): bool,
+                        },
+                    )
+                },
+            ),
+            "faults": Or(
+                {},
+                {
+                    str: Or(
+                        {},
+                        {
+                            "id": int,
+                            "description": str,
+                            Optional("disabled"): bool,
+                        },
+                    )
+                },
+            ),
         },
         {},
     )