Decode Ready-To-Drive Message

Confluence for https://uwmidsun.atlassian.net/browse/SOFT-498

We defined a new CAN message, specifying when power main sequence is finished.

In “can_transmit.h”

#define CAN_TRANSMIT_DRIVE_STATE(drive_state_u16)  \
  ({                                               \
    CanMessage msg = { 0 };                        \
    CAN_PACK_DRIVE_STATE(&msg, (drive_state_u16)); \
    StatusCode status = can_transmit(&msg, NULL);  \
    status;                                        \
  })

In “power_main_sequence.c”

static void prv_state_power_main_complete(Fsm *fsm, const Event *e, void *context) {
  event_raise(POWER_MAIN_SEQUENCE_EVENT_COMPLETE, 0);
  CAN_TRANSMIT_READY_TO_DRIVER(true);
}

This message is for driver display to know when to display ready to drive.

Using the telemetry scripts,

https://github.com/uw-midsun/telemetry_xiv/blob/master/telemetry_scripts/web_aggregate_can_data.py and https://github.com/uw-midsun/telemetry_xiv/blob/master/MSXIV_Driver_Display/lib/main.dart

You can just look for if the message is sent.

  void filterMessage(String data) {
    var msg = data.split('-');
    var msgName = msg[0];
    var parsedInternalData = json.decode(msg[2].replaceAll("'", "\""));

    if (msgName == 'MOTOR_VELOCITY') {
      _speedChange((parsedInternalData['vehicle_velocity_left']).toDouble());
    } else if (msgName == 'LIGHTS') {
      selectLights(EELightType.values[(parsedInternalData['lights_id'])],
          EELightState.values[(parsedInternalData['state'])]);
    } else if (msgName == 'BATTERY_CHANGE') {
      // TODO: Figure out voltage levels versus battery charge
    } else if (msgName == 'CRUISE_CONTROL_COMMAND') {
      toggleCruise();
    } else if (msgName == 'DRIVE_STATE') {
      selectDriveState(EEDriveOutput.values[parsedInternalData['drive_state']]);
    } else if (msgName == 'BPS_HEARTBEAT') {
      addBatteryHeartbeatWarnings(parsedInternalData['status']);
    } else if (msgName == "CHARGER_FAULT") {
      addChargerWarnings(EEChargerFault.values[parsedInternalData['fault']]);
    } else if (msgName == "SOLAR_FAULT") {
      addSolarWarnings(EESolarFault.values[parsedInternalData['fault']]);
    } else if (msgName.contains(new RegExp(r'FAULT'))) {
      addWarnings(msgName);
    } else if (msgName == "READY_TO_DRIVE") {
      # display ready to drive
    }
  }

Of course, you’ll also need the latest DBC file, to decode this.