CRIT LED Changes (#1262)

### Changelist 
<!-- Give a list of the changes covered in this PR. This will help both
you and the reviewer keep this PR within scope. -->
- Hearbeat turns off LED
- Shutdown OK test (does not follow TSAL, should it?)

### Testing Done
<!-- Outline the testing that was done to demonstrate the changes are
solid. This could be unit tests, integration tests, testing on the car,
etc. Include relevant code snippets, screenshots, etc as needed. -->
yes

### Resolved Tickets
<!-- Link any tickets that this PR resolves. -->

---------

Co-authored-by: Gus Tahara-Edmonds <[email protected]>

can_bus/quadruna/CRIT/CRIT_rx.json

@@ -8,6 +8,7 @@
         "BMS_OkStatuses",
         "VC_Regen",
         "VC_TorqueVectoring",
+        "VC_GlobalShdnNodeStatus",
         "Debug_CanMode"
     ]
 }

firmware/quadruna/CRIT/src/app/app_leds.c

@@ -5,11 +5,33 @@
 
 BoardLEDStatus board_worst_status(CanAlertBoard b)
 {
+    bool is_missing_heartbeat;
+    switch (b)
+    {
+        case BMS_ALERT_BOARD:
+            is_missing_heartbeat = app_canAlerts_CRIT_Fault_MissingBMSHeartbeat_get();
+            break;
+        case CRIT_ALERT_BOARD:
+            is_missing_heartbeat = false; // lmao like
+            break;
+        case FSM_ALERT_BOARD:
+            is_missing_heartbeat = app_canAlerts_CRIT_Fault_MissingFSMHeartbeat_get();
+            break;
+        case RSM_ALERT_BOARD:
+            is_missing_heartbeat = app_canAlerts_CRIT_Fault_MissingRSMHeartbeat_get();
+            break;
+        case VC_ALERT_BOARD:
+            is_missing_heartbeat = app_canAlerts_CRIT_Fault_MissingVCHeartbeat_get();
+            break;
+    }
+
+    if (is_missing_heartbeat)
+        return BOARD_LED_STATUS_MISSING_HEARTBEAT;
     if (app_canAlerts_BoardHasFault(b))
-        return FAULT;
+        return BOARD_LED_STATUS_FAULT;
     if (app_canAlerts_BoardHasWarning(b))
-        return WARNING;
-    return OK;
+        return BOARD_LED_STATUS_WARNING;
+    return BOARD_LED_STATUS_OK;
 }
 
 void app_leds_update(void)
@@ -27,8 +49,10 @@ void app_leds_update(void)
     const bool torquevec_light_on = app_canRx_VC_TorqueVectoringEnabled_get();
     io_led_torquevec_set(torquevec_light_on);
 
-    const BoardLEDStatus shutdown_sensor = OK; // TODO implement VC last shutdown node code is in
-    io_led_shutdown_set(shutdown_sensor);
+    // or driven by BMS_drive_state???
+    const BoardLEDStatus shutdown_sensor_ok =
+        app_canRx_VC_FirstFaultNode_get() == SHDN_OK ? BOARD_LED_STATUS_OK : BOARD_LED_STATUS_FAULT;
+    io_led_shutdown_set(shutdown_sensor_ok);
 
     const BoardLEDStatus bms_status = board_worst_status(BMS_ALERT_BOARD);
     io_led_bms_status_set(bms_status);
@@ -46,5 +70,5 @@ void app_leds_update(void)
     io_led_rsm_status_set(rsm_status);
 
     // TODO AUX status
-    io_led_aux_status_set(WHITE);
+    io_led_aux_status_set(BOARD_LED_STATUS_NOT_IMPLEMENTED);
 }

firmware/quadruna/CRIT/src/io/io_leds.c

@@ -43,24 +43,27 @@ void set_led_from_board_status(const RgbLed *led, const BoardLEDStatus status)
 {
     switch (status)
     {
-        case FAULT:
+        case BOARD_LED_STATUS_FAULT:
             hw_rgbLed_enable(led, RGB_RED);
             break;
-        case OK:
+        case BOARD_LED_STATUS_OK:
             hw_rgbLed_enable(led, RGB_GREEN);
             break;
-        case WARNING:
+        case BOARD_LED_STATUS_WARNING:
             hw_rgbLed_enable(led, RGB_YELLOW);
             break;
-        case WHITE:
+        case BOARD_LED_STATUS_NOT_IMPLEMENTED:
             hw_rgbLed_enable(led, RGB_WHITE);
             break;
+        case BOARD_LED_STATUS_MISSING_HEARTBEAT:
+            hw_rgbLed_enable(led, RGB_OFF);
+            break;
     }
 }
 
 void io_led_shutdown_set(const BoardLEDStatus status)
 {
-    assert(status != WHITE && status != WARNING);
+    assert(status != BOARD_LED_STATUS_NOT_IMPLEMENTED && status != BOARD_LED_STATUS_WARNING);
     set_led_from_board_status(leds->shdn_led, status);
 }
 

firmware/quadruna/CRIT/src/io/io_leds.h

@@ -33,10 +33,11 @@ void io_led_torquevec_set(bool val);
 
 typedef enum
 {
-    OK,
-    WARNING,
-    FAULT,
-    WHITE
+    BOARD_LED_STATUS_OK,
+    BOARD_LED_STATUS_WARNING,
+    BOARD_LED_STATUS_FAULT,
+    BOARD_LED_STATUS_NOT_IMPLEMENTED,
+    BOARD_LED_STATUS_MISSING_HEARTBEAT
 } BoardLEDStatus;
 
 void io_led_shutdown_set(BoardLEDStatus status);

firmware/quadruna/CRIT/test/test_ledStatus.cpp

@@ -96,7 +96,7 @@ TEST_F(LedStatusTest, vc_board_status_led_control_with_critical_error)
     {
         can_update(true);
         LetTimePass(10);
-        ASSERT_EQ(1, assert_func(FAULT));
+        ASSERT_EQ(1, assert_func(BOARD_LED_STATUS_FAULT));
     }
 }
 
@@ -114,7 +114,7 @@ TEST_F(LedStatusTest, vc_board_status_led_control_with_warning)
     {
         can_update(true);
         LetTimePass(10);
-        ASSERT_EQ(1, assert_func(WARNING));
+        ASSERT_EQ(1, assert_func(BOARD_LED_STATUS_WARNING));
     }
 }
 
@@ -127,7 +127,7 @@ TEST_F(LedStatusTest, vc_board_status_led_control_with_no_error)
              fake_io_led_fsm_status_set_callCountForArgs, fake_io_led_rsm_status_set_callCountForArgs,
              fake_io_led_crit_status_set_callCountForArgs })
     {
-        const auto out = assert_func(OK);
+        const auto out = assert_func(BOARD_LED_STATUS_OK);
         ASSERT_EQ(1, out);
     }
 }
@@ -153,7 +153,7 @@ TEST_F(LedStatusTest, vc_board_status_led_control_with_multiple_errors)
         fault(true);
         warning(true);
         LetTimePass(10);
-        ASSERT_EQ(1, assert_func(FAULT));
-        ASSERT_EQ(0, assert_func(WARNING));
+        ASSERT_EQ(1, assert_func(BOARD_LED_STATUS_FAULT));
+        ASSERT_EQ(0, assert_func(BOARD_LED_STATUS_WARNING));
     }
 }