Jiajun/disable unused sensor (#1311)

### Changelist 
Disable load cell and suspension
### 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. -->

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

can_bus/quadruna/FSM/FSM_alerts.json

@@ -77,10 +77,12 @@
             "description": "BRAKE_OCSC_OK line routed to BMS for BSPD is not OK."
         },
         "LeftSuspensionOCSC": {
+            "disabled": true,
             "id": 317,
             "description": "Left suspension sensor voltage out of acceptable range (OCSC)."
         },
         "RightSuspensionOCSC": {
+            "disabled": true,
             "id": 318,
             "description": "Right suspension sensor voltage out of acceptable range (OCSC)."
         },

can_bus/quadruna/FSM/FSM_tx.json

@@ -130,6 +130,7 @@
         }
     },
     "Suspension": {
+        "disabled" : true,
         "msg_id": 307,
         "cycle_time": 100,
         "description": "Suspension travel.",
@@ -147,8 +148,9 @@
                 "unit": "cm"
             }
         }
-    },
+    }, 
     "LoadCell": {
+        "disabled" : true,
         "msg_id": 308,
         "cycle_time": 100,
         "description": "Load cell mechanical loads.",

can_bus/quadruna/RSM/RSM_alerts.json

@@ -41,18 +41,22 @@
             "description": "Coolant flow out of range"
         },
         "LeftSuspensionOCSC": {
+            "disabled" : true,
             "id": 410,
             "description": "Rear left suspension open or short circuit"
         },
         "RightSuspensionOCSC": {
+            "disabled" : true,
             "id": 411,
             "description": "Rear right suspension open or short circuit"
         },
         "LoadCell3OCSC": {
+            "disabled" : true,
             "id": 412,
             "description": "Load cell 3 open or short circuit"
         },
         "LoadCell4OCSC": {
+            "disabled" : true,
             "id": 413,
             "description": "Load cell 4 open or short circuit"
         },

can_bus/quadruna/RSM/RSM_tx.json

@@ -64,6 +64,7 @@
 		}
 	},
 	"Suspension": {
+		"disabled": true,
 		"msg_id": 417,
 		"cycle_time": 100,
 		"description": "Suspension travel.",
@@ -83,6 +84,7 @@
 		}
 	},
 	"LoadCell":{
+		"disabled": true,
 		"msg_id" : 418,
 		"cycle_time": 100,
 		"description" : "Mechanical load on load cell",

firmware/quadruna/CRIT/test/test_ledStatus.cpp

@@ -108,8 +108,9 @@ TEST_F(LedStatusTest, vc_board_status_led_control_with_warning)
          std::vector<std::pair<std::function<void(bool)>, std::function<uint32_t(BoardLEDStatus)>>>{
              { app_canRx_VC_Warning_ImuInitFailed_update, fake_io_led_vc_status_set_callCountForArgs },
              { app_canRx_BMS_Warning_RxOverflow_update, fake_io_led_bms_status_set_callCountForArgs },
-             { app_canRx_FSM_Warning_LeftSuspensionOCSC_update, fake_io_led_fsm_status_set_callCountForArgs },
-             { app_canRx_RSM_Warning_LoadCell3OCSC_update, fake_io_led_rsm_status_set_callCountForArgs },
+             //  { app_canRx_FSM_Warning_LeftSuspensionOCSC_update, fake_io_led_fsm_status_set_callCountForArgs },
+
+             //  { app_canRx_RSM_Warning_LoadCell3OCSC_update, fake_io_led_rsm_status_set_callCountForArgs },
              { app_canTx_CRIT_Warning_StackWaterMarkHighTask100Hz_set, fake_io_led_crit_status_set_callCountForArgs } })
     {
         can_update(true);
@@ -143,10 +144,10 @@ TEST_F(LedStatusTest, vc_board_status_led_control_with_multiple_errors)
                fake_io_led_vc_status_set_callCountForArgs },
              { app_canRx_BMS_Fault_CellOvertemp_update, app_canRx_BMS_Warning_RxOverflow_update,
                fake_io_led_bms_status_set_callCountForArgs },
-             { app_canRx_FSM_Fault_SappsOCSC_update, app_canRx_FSM_Warning_LeftSuspensionOCSC_update,
-               fake_io_led_fsm_status_set_callCountForArgs },
-             { app_canRx_RSM_Fault_MissingVCHeartbeat_update, app_canRx_RSM_Warning_LoadCell3OCSC_update,
-               fake_io_led_rsm_status_set_callCountForArgs },
+             //  { app_canRx_FSM_Fault_SappsOCSC_update, app_canRx_FSM_Warning_LeftSuspensionOCSC_update,
+             //    fake_io_led_fsm_status_set_callCountForArgs },
+             //  { app_canRx_RSM_Fault_MissingVCHeartbeat_update, app_canRx_RSM_Warning_LoadCell3OCSC_update,
+             //    fake_io_led_rsm_status_set_callCountForArgs },
              { app_canTx_CRIT_Fault_MissingFSMHeartbeat_set, app_canTx_CRIT_Warning_StackWaterMarkHighTask100Hz_set,
                fake_io_led_crit_status_set_callCountForArgs } })
     {

firmware/quadruna/FSM/src/app/app_loadCell.c

@@ -5,8 +5,8 @@
 
 void app_loadCell_broadcast(void)
 {
-    app_canTx_FSM_LoadCell1_set(io_loadCell_getMechanicalLoad1());
-    app_canTx_FSM_LoadCell2_set(io_loadCell_getMechanicalLoad2());
+    // 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());

firmware/quadruna/FSM/src/app/app_suspension.c

@@ -7,12 +7,12 @@
 
 void app_suspension_broadcast(void)
 {
-    float left_travel  = io_suspension_getLeftTravel();
-    float right_travel = io_suspension_getRightTravel();
+    // float left_travel  = io_suspension_getLeftTravel();
+    // float right_travel = io_suspension_getRightTravel();
 
-    app_canTx_FSM_LeftSuspensionTravel_set(left_travel);
-    app_canTx_FSM_RightSuspensionTravel_set(right_travel);
+    // app_canTx_FSM_LeftSuspensionTravel_set(left_travel);
+    // app_canTx_FSM_RightSuspensionTravel_set(right_travel);
 
-    app_canAlerts_FSM_Warning_LeftSuspensionOCSC_set(io_suspension_leftSensorOCSC());
-    app_canAlerts_FSM_Warning_RightSuspensionOCSC_set(io_suspension_rightSensorOCSC());
+    // app_canAlerts_FSM_Warning_LeftSuspensionOCSC_set(io_suspension_leftSensorOCSC());
+    // app_canAlerts_FSM_Warning_RightSuspensionOCSC_set(io_suspension_rightSensorOCSC());
 }

firmware/quadruna/FSM/test/test_app.cpp

@@ -100,22 +100,22 @@ TEST_F(FsmAppTest, check_right_wheel_speed_can_signals)
         app_canTx_FSM_RightWheelSpeed_get, app_canAlerts_FSM_Warning_RightWheelSpeedOutOfRange_get);
 }
 
-TEST_F(FsmAppTest, check_left_suspension_can_signals)
-{
-    fake_io_suspension_getLeftTravel_returns(50.0);
-    LetTimePass(10);
-    ASSERT_EQ(app_canTx_FSM_LeftSuspensionTravel_get(), 50.0);
-
-    CheckBinaryStatusCanSignal(
-        fake_io_suspension_leftSensorOCSC_returns, app_canAlerts_FSM_Warning_LeftSuspensionOCSC_get);
-}
-
-TEST_F(FsmAppTest, check_right_suspension_can_signals)
-{
-    fake_io_suspension_getRightTravel_returns(50.0);
-    LetTimePass(10);
-    ASSERT_EQ(app_canTx_FSM_RightSuspensionTravel_get(), 50.0);
-
-    CheckBinaryStatusCanSignal(
-        fake_io_suspension_rightSensorOCSC_returns, app_canAlerts_FSM_Warning_RightSuspensionOCSC_get);
-}
+// TEST_F(FsmAppTest, check_left_suspension_can_signals)
+// {
+//     fake_io_suspension_getLeftTravel_returns(50.0);
+//     LetTimePass(10);
+//     // ASSERT_EQ(app_canTx_FSM_LeftSuspensionTravel_get(), 50.0);
+
+//     CheckBinaryStatusCanSignal(
+//         fake_io_suspension_leftSensorOCSC_returns, app_canAlerts_FSM_Warning_LeftSuspensionOCSC_get);
+// }
+
+// TEST_F(FsmAppTest, check_right_suspension_can_signals)
+// {
+//     fake_io_suspension_getRightTravel_returns(50.0);
+//     LetTimePass(10);
+//     // ASSERT_EQ(app_canTx_FSM_RightSuspensionTravel_get(), 50.0);
+
+//     CheckBinaryStatusCanSignal(
+//         fake_io_suspension_rightSensorOCSC_returns, app_canAlerts_FSM_Warning_RightSuspensionOCSC_get);
+// }

firmware/quadruna/FSM/test/test_canMsgs.cpp

@@ -36,15 +36,15 @@ TEST(CanMsgsTest, brake_message_frequency)
     ASSERT_GE(HZ_TO_MS(10), CAN_MSG_FSM_BRAKE_CYCLE_TIME_MS);
 }
 
-TEST(CanMsgsTest, suspension_message_frequency)
-{
-    ASSERT_GE(HZ_TO_MS(10), CAN_MSG_FSM_SUSPENSION_CYCLE_TIME_MS);
-}
+// TEST(CanMsgsTest, suspension_message_frequency)
+// {
+//     ASSERT_GE(HZ_TO_MS(10), CAN_MSG_FSM_SUSPENSION_CYCLE_TIME_MS);
+// }
 
-TEST(CanMsgsTest, load_cell_message_frequency)
-{
-    ASSERT_GE(HZ_TO_MS(10), CAN_MSG_FSM_LOAD_CELL_CYCLE_TIME_MS);
-}
+// TEST(CanMsgsTest, load_cell_message_frequency)
+// {
+// ASSERT_GE(HZ_TO_MS(10), CAN_MSG_FSM_LOAD_CELL_CYCLE_TIME_MS);
+// }
 
 TEST(CanMsgsTest, warnings_message_frequency)
 {

firmware/quadruna/FSM/test/test_faults.cpp

@@ -227,45 +227,45 @@ TEST_F(FsmFaultsTest, steering_sensor_ocsc_sets_warning)
     ASSERT_FALSE(app_canAlerts_FSM_Warning_SteeringAngleOCSC_get());
 }
 
-TEST_F(FsmFaultsTest, left_suspension_ocsc_sets_warning)
-{
-    LetTimePass(10);
-    ASSERT_FALSE(app_canAlerts_FSM_Warning_LeftSuspensionOCSC_get());
+// TEST_F(FsmFaultsTest, left_suspension_ocsc_sets_warning)
+// {
+//     LetTimePass(10);
+//     ASSERT_FALSE(app_canAlerts_FSM_Warning_LeftSuspensionOCSC_get());
 
-    // Set left suspension OCSC
-    fake_io_suspension_leftSensorOCSC_returns(true);
-    LetTimePass(10);
-    ASSERT_TRUE(app_canAlerts_FSM_Warning_LeftSuspensionOCSC_get());
+//     // Set left suspension OCSC
+//     fake_io_suspension_leftSensorOCSC_returns(true);
+//     LetTimePass(10);
+//     ASSERT_TRUE(app_canAlerts_FSM_Warning_LeftSuspensionOCSC_get());
 
-    // Confirm set indefinitely
-    LetTimePass(1000);
-    ASSERT_TRUE(app_canAlerts_FSM_Warning_LeftSuspensionOCSC_get());
+//     // Confirm set indefinitely
+//     LetTimePass(1000);
+//     ASSERT_TRUE(app_canAlerts_FSM_Warning_LeftSuspensionOCSC_get());
 
-    // Clear condition, confirm warning resets
-    fake_io_suspension_leftSensorOCSC_returns(false);
-    LetTimePass(10);
-    ASSERT_FALSE(app_canAlerts_FSM_Warning_LeftSuspensionOCSC_get());
-}
+//     // Clear condition, confirm warning resets
+//     fake_io_suspension_leftSensorOCSC_returns(false);
+//     LetTimePass(10);
+//     ASSERT_FALSE(app_canAlerts_FSM_Warning_LeftSuspensionOCSC_get());
+// }
 
-TEST_F(FsmFaultsTest, right_suspension_ocsc_sets_warning)
-{
-    LetTimePass(10);
-    ASSERT_FALSE(app_canAlerts_FSM_Warning_RightSuspensionOCSC_get());
+// TEST_F(FsmFaultsTest, right_suspension_ocsc_sets_warning)
+// {
+//     LetTimePass(10);
+//     ASSERT_FALSE(app_canAlerts_FSM_Warning_RightSuspensionOCSC_get());
 
-    // Set right suspension OCSC
-    fake_io_suspension_rightSensorOCSC_returns(true);
-    LetTimePass(10);
-    ASSERT_TRUE(app_canAlerts_FSM_Warning_RightSuspensionOCSC_get());
+//     // Set right suspension OCSC
+//     fake_io_suspension_rightSensorOCSC_returns(true);
+//     LetTimePass(10);
+//     ASSERT_TRUE(app_canAlerts_FSM_Warning_RightSuspensionOCSC_get());
 
-    // Confirm set indefinitely
-    LetTimePass(1000);
-    ASSERT_TRUE(app_canAlerts_FSM_Warning_RightSuspensionOCSC_get());
+//     // Confirm set indefinitely
+//     LetTimePass(1000);
+//     ASSERT_TRUE(app_canAlerts_FSM_Warning_RightSuspensionOCSC_get());
 
-    // Clear condition, confirm warning resets
-    fake_io_suspension_rightSensorOCSC_returns(false);
-    LetTimePass(10);
-    ASSERT_FALSE(app_canAlerts_FSM_Warning_RightSuspensionOCSC_get());
-}
+//     // Clear condition, confirm warning resets
+//     fake_io_suspension_rightSensorOCSC_returns(false);
+//     LetTimePass(10);
+//     ASSERT_FALSE(app_canAlerts_FSM_Warning_RightSuspensionOCSC_get());
+// }
 
 // TEST_F(FsmFaultsTest, load_cell_1_ocsc_sets_warning)
 // {

firmware/quadruna/RSM/src/app/app_loadCell.c

@@ -7,8 +7,8 @@
 
 void app_loadcell_broadcast()
 {
-    app_canTx_RSM_LoadCell3_set(io_loadCell_getMechanicalLoad3());
-    app_canTx_RSM_LoadCell4_set(io_loadCell_getMechanicalLoad4());
-    app_canAlerts_RSM_Warning_LoadCell3OCSC_set(io_loadCell_sensor3OCSC());
-    app_canAlerts_RSM_Warning_LoadCell4OCSC_set(io_loadCell_sensor4OCSC());
+    // app_canTx_RSM_LoadCell3_set(io_loadCell_getMechanicalLoad3());
+    // app_canTx_RSM_LoadCell4_set(io_loadCell_getMechanicalLoad4());
+    // app_canAlerts_RSM_Warning_LoadCell3OCSC_set(io_loadCell_sensor3OCSC());
+    // app_canAlerts_RSM_Warning_LoadCell4OCSC_set(io_loadCell_sensor4OCSC());
 }

firmware/quadruna/RSM/src/app/app_suspension.c

@@ -7,12 +7,12 @@
 
 void app_suspension_broadcast(void)
 {
-    float const left_travel  = io_suspension_getRearLeftTravel();
-    float const right_travel = io_suspension_getRearRightTravel();
+    // float const left_travel  = io_suspension_getRearLeftTravel();
+    // float const right_travel = io_suspension_getRearRightTravel();
 
-    app_canTx_RSM_RearLeftSuspensionTravel_set(left_travel);
-    app_canTx_RSM_RearRightSuspensionTravel_set(right_travel);
+    // app_canTx_RSM_RearLeftSuspensionTravel_set(left_travel);
+    // app_canTx_RSM_RearRightSuspensionTravel_set(right_travel);
 
-    app_canAlerts_RSM_Warning_LeftSuspensionOCSC_set(io_suspension_leftSensorOCSC());
-    app_canAlerts_RSM_Warning_RightSuspensionOCSC_set(io_suspension_rightSensorOCSC());
+    // app_canAlerts_RSM_Warning_LeftSuspensionOCSC_set(io_suspension_leftSensorOCSC());
+    // app_canAlerts_RSM_Warning_RightSuspensionOCSC_set(io_suspension_rightSensorOCSC());
 }

firmware/quadruna/RSM/test/test_app.cpp

@@ -81,21 +81,21 @@ TEST_F(RsmAppTest, check_pressureB_can_signals)
     ASSERT_NEAR(app_canTx_RSM_CoolantPressureB_get(), 0.8, 0.00001);
 }
 
-TEST_F(RsmAppTest, check_left_rear_suspension_can_signals)
-{
-    fake_io_suspension_getRearLeftTravel_returns(50.0);
-    LetTimePass(10);
-    ASSERT_EQ(app_canTx_RSM_RearLeftSuspensionTravel_get(), 50.0);
+// TEST_F(RsmAppTest, check_left_rear_suspension_can_signals)
+// {
+//     fake_io_suspension_getRearLeftTravel_returns(50.0);
+//     LetTimePass(10);
+//     // ASSERT_EQ(app_canTx_RSM_RearLeftSuspensionTravel_get(), 50.0);
 
-    CheckBinaryStatusCanSignal(
-        fake_io_suspension_leftSensorOCSC_returns, app_canAlerts_RSM_Warning_LeftSuspensionOCSC_get);
-}
+//     CheckBinaryStatusCanSignal(
+//         fake_io_suspension_leftSensorOCSC_returns, app_canAlerts_RSM_Warning_LeftSuspensionOCSC_get);
+// }
 
-TEST_F(RsmAppTest, check_right_rear_suspension_can_signals)
-{
-    fake_io_suspension_getRearRightTravel_returns(50.0);
-    LetTimePass(10);
-    ASSERT_EQ(app_canTx_RSM_RearRightSuspensionTravel_get(), 50.0);
-    CheckBinaryStatusCanSignal(
-        fake_io_suspension_rightSensorOCSC_returns, app_canAlerts_RSM_Warning_RightSuspensionOCSC_get);
-}
+// TEST_F(RsmAppTest, check_right_rear_suspension_can_signals)
+// {
+//     fake_io_suspension_getRearRightTravel_returns(50.0);
+//     LetTimePass(10);
+//     // ASSERT_EQ(app_canTx_RSM_RearRightSuspensionTravel_get(), 50.0);
+//     CheckBinaryStatusCanSignal(
+//         fake_io_suspension_rightSensorOCSC_returns, app_canAlerts_RSM_Warning_RightSuspensionOCSC_get);
+// }

firmware/quadruna/RSM/test/test_canMsgs.cpp

@@ -26,15 +26,15 @@ TEST(CanMsgsTest, coolant_message_frequency)
     ASSERT_GE(HZ_TO_MS(1), CAN_MSG_RSM_COOLANT_CYCLE_TIME_MS);
 }
 
-TEST(CanMsgsTest, loadcell_message_frequency)
-{
-    ASSERT_GE(HZ_TO_MS(10), CAN_MSG_RSM_FAULTS_CYCLE_TIME_MS);
-}
-
-TEST(CanMsgsTest, suspension_message_frequency)
-{
-    ASSERT_GE(HZ_TO_MS(10), CAN_MSG_RSM_SUSPENSION_CYCLE_TIME_MS);
-}
+// TEST(CanMsgsTest, loadcell_message_frequency)
+// {
+//     ASSERT_GE(HZ_TO_MS(10), CAN_MSG_RSM_FAULTS_CYCLE_TIME_MS);
+// }
+
+// TEST(CanMsgsTest, suspension_message_frequency)
+// {
+//     ASSERT_GE(HZ_TO_MS(10), CAN_MSG_RSM_SUSPENSION_CYCLE_TIME_MS);
+// }
 
 TEST(CanMsgsTest, warnings_message_frequency)
 {