Specify data capture times for SD card and wireless telem in JSONCAN (#…

…1273)

### Changelist 
<!-- Give a list of the changes covered in this PR. This will help both
you and the reviewer keep this PR within scope. -->

Add the ability to specify the data capture rate for both SD card
logging and wireless telemetry. The schema is as follows:
```json
"<msg name>": {
    <other signals omitted>
    "data_capture": {
        "log_cycle_time": 1000,
        "telem_cycle_time": 1000
     }
}
```

`log_cycle_time` is the cycle time at which the message will be logged
to the SD card. If `null`, this message will not be logged. This signal
can be omitted and the normal message cycle time will be used instead.

`telem_cycle_time` is the cycle time at which the message will be
transmitted via wireless telemetry. If `null`, this message will not be
sent. This signal can be omitted and the normal message cycle time will
be used instead.

### 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. -->

TODO

can_bus/quadruna/INVL/INVL_tx.json

@@ -43,6 +43,10 @@
                 "max": 3276.7,
                 "unit": "degC"
             }
+        },
+        "data_capture": {
+            "log_cycle_time": 1000,
+            "telem_cycle_time": 1000
         }
     },
     "Temperatures2": {
@@ -89,6 +93,10 @@
                 "max": 3276.7,
                 "unit": "degC"
             }
+        },
+        "data_capture": {
+            "log_cycle_time": 1000,
+            "telem_cycle_time": 1000
         }
     },
     "Temperatures3": {
@@ -135,6 +143,10 @@
                 "max": 3276.7,
                 "unit": "Nm"
             }
+        },
+        "data_capture": {
+            "log_cycle_time": 1000,
+            "telem_cycle_time": 1000
         }
     },
     "AnalogInputVoltages": {
@@ -201,6 +213,10 @@
                 "max": 327.67,
                 "unit": "V"
             }
+        },
+        "data_capture": {
+            "log_cycle_time": 1000,
+            "telem_cycle_time": 1000
         }
     },
     "DigitalInputStatus": {
@@ -239,6 +255,10 @@
                 "start_bit": 56,
                 "bits": 1
             }
+        },
+        "data_capture": {
+            "log_cycle_time": 1000,
+            "telem_cycle_time": 1000
         }
     },
     "MotorPositionInfo": {
@@ -469,6 +489,10 @@
                 "max": 327.67,
                 "unit": "V"
             }
+        },
+        "data_capture": {
+            "log_cycle_time": 1000,
+            "telem_cycle_time": 1000
         }
     },
     "InternalStates": {

can_bus/quadruna/INVR/INVR_tx.json

@@ -43,6 +43,10 @@
                 "max": 3276.7,
                 "unit": "degC"
             }
+        },
+        "data_capture": {
+            "log_cycle_time": 1000,
+            "telem_cycle_time": 1000
         }
     },
     "Temperatures2": {
@@ -89,6 +93,10 @@
                 "max": 3276.7,
                 "unit": "degC"
             }
+        },
+        "data_capture": {
+            "log_cycle_time": 1000,
+            "telem_cycle_time": 1000
         }
     },
     "Temperatures3": {
@@ -135,6 +143,10 @@
                 "max": 3276.7,
                 "unit": "Nm"
             }
+        },
+        "data_capture": {
+            "log_cycle_time": 1000,
+            "telem_cycle_time": 1000
         }
     },
     "AnalogInputVoltages": {
@@ -201,6 +213,10 @@
                 "max": 327.67,
                 "unit": "V"
             }
+        },
+        "data_capture": {
+            "log_cycle_time": 1000,
+            "telem_cycle_time": 1000
         }
     },
     "DigitalInputStatus": {
@@ -469,6 +485,10 @@
                 "max": 327.67,
                 "unit": "V"
             }
+        },
+        "data_capture": {
+            "log_cycle_time": 1000,
+            "telem_cycle_time": 1000
         }
     },
     "InternalStates": {

firmware/quadruna/VC/src/tasks.c

@@ -9,6 +9,7 @@
 #include "app_canTx.h"
 #include "app_canRx.h"
 #include "app_canAlerts.h"
+#include "app_canDataCapture.h"
 #include "app_commitInfo.h"
 #include "app_powerManager.h"
 #include "app_efuse.h"
@@ -30,6 +31,7 @@
 #include "io_telemMessage.h"
 #include "io_pcm.h"
 #include "io_tsms.h"
+#include "io_time.h"
 
 #include "hw_bootup.h"
 #include "hw_utils.h"
@@ -53,26 +55,28 @@ extern UART_HandleTypeDef  huart3;
 extern SD_HandleTypeDef    hsd1;
 // extern IWDG_HandleTypeDef  hiwdg1;
 
-static bool io_logging_functional(void); // TODO make this a general io logging happy function
+static bool loggingEnabled(void); // TODO make this a general io logging happy function
 
 static uint32_t can_logging_overflow_count = 0;
 static uint32_t read_count                 = 0; // TODO debugging variables
 static uint32_t write_count                = 0; // TODO debugging variables
 static bool     can_logging_enable         = true;
 
-static void tasks_canRx_callback(CanMsg *rx_msg)
+static void canRxCallback(CanMsg *rx_msg)
 {
     io_can_pushRxMsgToQueue(rx_msg); // push to queue
-    if (io_logging_functional())
+
+    if (loggingEnabled() && app_dataCapture_needsLog((uint16_t)rx_msg->std_id, io_time_getCurrentMs()))
     {
         io_canLogging_loggingQueuePush(rx_msg); // push to logging queue
         read_count++;
     }
+
     // TODO all telemetry here
 }
 
 SdCard                 sd  = { .hsd = &hsd1, .timeout = 1000 };
-static const CanHandle can = { .can = &hfdcan1, .can_msg_received_callback = tasks_canRx_callback };
+static const CanHandle can = { .can = &hfdcan1, .can_msg_received_callback = canRxCallback };
 
 void canRxQueueOverflowCallBack(uint32_t overflow_count)
 {
@@ -153,7 +157,7 @@ static const Gpio      nprogram_3v3     = { .port = NPROGRAM_3V3_GPIO_Port, .pin
 static const Gpio      sb_ilck_shdn_sns = { .port = SB_ILCK_SHDN_SNS_GPIO_Port, .pin = SB_ILCK_SHDN_SNS_Pin };
 static const Gpio      tsms_shdn_sns    = { .port = TSMS_SHDN_SNS_GPIO_Port, .pin = TSMS_SHDN_SNS_Pin };
 
-static bool io_logging_functional(void)
+static bool loggingEnabled(void)
 {
     return !hw_gpio_readPin(&sd_present) && can_logging_enable;
 }
@@ -388,7 +392,7 @@ void tasks_init(void)
         Error_Handler();
     }
 
-    if (io_logging_functional())
+    if (loggingEnabled())
     {
         if (io_fileSystem_init() == FILE_OK)
         {
@@ -411,6 +415,7 @@ void tasks_init(void)
 
     app_canTx_init();
     app_canRx_init();
+    app_canDataCapture_init();
 
     app_heartbeatMonitor_init(
         heartbeatMonitorChecklist, heartbeatGetters, heartbeatUpdaters, &app_canTx_VC_Heartbeat_set,
@@ -549,15 +554,14 @@ _Noreturn void tasks_runCanRx(void)
 
 _Noreturn void tasks_runLogging(void)
 {
-    osDelayUntil(osWaitForever);
+    if (!loggingEnabled())
+    {
+        osThreadSuspend(osThreadGetId());
+    }
+
     static uint32_t message_batch_count = 0;
     for (;;)
     {
-        if (!io_logging_functional())
-        {
-            osThreadSuspend(osThreadGetId());
-        }
-
         io_canLogging_recordMsgFromQueue();
         message_batch_count++;
         write_count++;

scripts/code_generation/jsoncan/generate_can_from_json.py

@@ -3,70 +3,26 @@
 TODO: Generate callback functions for received messages? Could be cool
 TODO: Why do we need start values???
 """
+
 import argparse
+import os
 from src.json_parsing.json_can_parsing import JsonCanParser
 from src.utils import write_text
 from src.codegen.dbc_generation.dbc_generation import DbcGenerator
 from src.codegen.c_generation.app_can_utils_module import AppCanUtilsModule
 from src.codegen.c_generation.app_can_tx_module import AppCanTxModule
 from src.codegen.c_generation.app_can_rx_module import AppCanRxModule
+from src.codegen.c_generation.app_can_alerts_module import AppCanAlertsModule
 from src.codegen.c_generation.io_can_rx_module import IoCanRxModule
 from src.codegen.c_generation.io_can_tx_module import IoCanTxModule
-from src.codegen.c_generation.app_can_alerts_module import AppCanAlertsModule
+from src.codegen.c_generation.app_can_data_capture_module import AppCanDataCaptureModule
 
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
     parser.add_argument("--board", help="Choose a board name")
     parser.add_argument("--can_data_dir", help="Path to JSON CAN data")
-    parser.add_argument(
-        "--app_can_tx_source_output",
-        help="Path to the output CAN TX source file for the App layer",
-    )
-    parser.add_argument(
-        "--app_can_tx_header_output",
-        help="Path to the output CAN TX header file for the App layer",
-    )
-    parser.add_argument(
-        "--io_can_tx_source_output",
-        help="Path to the output CAN TX source file for the IO layer",
-    )
-    parser.add_argument(
-        "--io_can_tx_header_output",
-        help="Path to the output CAN TX header file for the IO layer",
-    )
-    parser.add_argument(
-        "--app_can_rx_source_output",
-        help="Path to the output CAN RX source file for the App layer",
-    )
-    parser.add_argument(
-        "--app_can_rx_header_output",
-        help="Path to the output CAN RX header file for the App layer",
-    )
-    parser.add_argument(
-        "--io_can_rx_source_output",
-        help="Path to the output CAN RX source file for the IO layer",
-    )
-    parser.add_argument(
-        "--io_can_rx_header_output",
-        help="Path to the output CAN RX header file for the IO layer",
-    )
-    parser.add_argument(
-        "--app_can_utils_source_output",
-        help="Path to the output source file for packing/unpacking CAN messages",
-    )
-    parser.add_argument(
-        "--app_can_utils_header_output",
-        help="Path to the output header file for packing/unpacking CAN messages",
-    )
-    parser.add_argument(
-        "--app_can_alerts_source_output",
-        help="Path to the output source file for aperiodic alerts",
-    )
-    parser.add_argument(
-        "--app_can_alerts_header_output",
-        help="Path to the output header file for aperiodic alerts",
-    )
+    parser.add_argument("--output_dir", help="Path to the output source files")
     parser.add_argument("--dbc_output", help="Path to the DBC file")
     parser.add_argument(
         "--only_dbc", action="store_true", help="Only generate DBC file"
@@ -81,32 +37,16 @@
     if args.only_dbc:
         exit()
 
-    # Generate app_canUtils.h/c
-    app_can_utils_mod = AppCanUtilsModule(can_db, args.board)
-    write_text(app_can_utils_mod.header(), args.app_can_utils_header_output)
-    write_text(app_can_utils_mod.source(), args.app_can_utils_source_output)
-
-    # Generate app_canTx.h/c
-    app_can_tx_mod = AppCanTxModule(can_db, args.board)
-    write_text(app_can_tx_mod.header(), args.app_can_tx_header_output)
-    write_text(app_can_tx_mod.source(), args.app_can_tx_source_output)
-
-    # Generate app_canRx.h/c
-    app_can_rx_mod = AppCanRxModule(can_db, args.board)
-    write_text(app_can_rx_mod.header(), args.app_can_rx_header_output)
-    write_text(app_can_rx_mod.source(), args.app_can_rx_source_output)
-
-    # Generate io_canTx.h/c
-    io_can_tx_mod = IoCanTxModule(can_db, args.board)
-    write_text(io_can_tx_mod.header(), args.io_can_tx_header_output)
-    write_text(io_can_tx_mod.source(), args.io_can_tx_source_output)
-
-    # Generate io_canRx.h/c
-    io_can_rx_mod = IoCanRxModule(can_db, args.board)
-    write_text(io_can_rx_mod.header(), args.io_can_rx_header_output)
-    write_text(io_can_rx_mod.source(), args.io_can_rx_source_output)
-
-    # Generate app_canAlerts.h/c
-    app_can_alerts_mod = AppCanAlertsModule(can_db, args.board)
-    write_text(app_can_alerts_mod.header(), args.app_can_alerts_header_output)
-    write_text(app_can_alerts_mod.source(), args.app_can_alerts_source_output)
+    modules = {
+        AppCanUtilsModule(can_db, args.board): os.path.join("app", "app_canUtils"),
+        AppCanTxModule(can_db, args.board): os.path.join("app", "app_canTx"),
+        AppCanRxModule(can_db, args.board): os.path.join("app", "app_canRx"),
+        AppCanAlertsModule(can_db, args.board): os.path.join("app", "app_canAlerts"),
+        AppCanDataCaptureModule(can_db): os.path.join("app", "app_canDataCapture"),
+        IoCanTxModule(can_db, args.board): os.path.join("io", "io_canTx"),
+        IoCanRxModule(can_db, args.board): os.path.join("io", "io_canRx"),
+    }
+    for module, module_path in modules.items():
+        module_full_path = os.path.join(args.output_dir, module_path)
+        write_text(module.header(), module_full_path + ".h")
+        write_text(module.source(), module_full_path + ".c")

scripts/code_generation/jsoncan/jsoncan.cmake

@@ -22,6 +22,8 @@ function(jsoncan_sources JSONCAN_PY_BOARD OUTPUT_DIR USE_IO CAR)
     set(APP_CAN_UTILS_HEADER_OUTPUT "${OUTPUT_DIR}/app/app_canUtils.h")
     set(APP_CAN_ALERTS_SRC_OUTPUT "${OUTPUT_DIR}/app/app_canAlerts.c")
     set(APP_CAN_ALERTS_HEADER_OUTPUT "${OUTPUT_DIR}/app/app_canAlerts.h")
+    set(APP_CAN_DATA_CAPTURE_SRC_OUTPUT "${OUTPUT_DIR}/app/app_canDataCapture.c")
+    set(APP_CAN_DATA_CAPTURE_HEADER_OUTPUT "${OUTPUT_DIR}/app/app_canDataCapture.h")
 
     set(CAN_DIR ${REPO_ROOT_DIR}/can_bus)
     set(DBC_OUTPUT ${CAN_DIR}/dbcs/${CAR}.dbc)
@@ -41,22 +43,13 @@ function(jsoncan_sources JSONCAN_PY_BOARD OUTPUT_DIR USE_IO CAR)
             ${APP_CAN_UTILS_HEADER_OUTPUT}
             ${APP_CAN_ALERTS_SRC_OUTPUT}
             ${APP_CAN_ALERTS_HEADER_OUTPUT}
+            ${APP_CAN_DATA_CAPTURE_SRC_OUTPUT}
+            ${APP_CAN_DATA_CAPTURE_HEADER_OUTPUT}
             COMMAND ${PYTHON_COMMAND}
             ${SCRIPTS_DIR}/code_generation/jsoncan/generate_can_from_json.py
             --board ${JSONCAN_PY_BOARD}
             --can_data_dir ${CAN_JSON_DIR}
-            --app_can_tx_header_output ${APP_CAN_TX_HEADER_OUTPUT}
-            --app_can_tx_source_output ${APP_CAN_TX_SRC_OUTPUT}
-            --io_can_tx_header_output ${IO_CAN_TX_HEADER_OUTPUT}
-            --io_can_tx_source_output ${IO_CAN_TX_SRC_OUTPUT}
-            --app_can_rx_header_output ${APP_CAN_RX_HEADER_OUTPUT}
-            --app_can_rx_source_output ${APP_CAN_RX_SRC_OUTPUT}
-            --io_can_rx_header_output ${IO_CAN_RX_HEADER_OUTPUT}
-            --io_can_rx_source_output ${IO_CAN_RX_SRC_OUTPUT}
-            --app_can_utils_header_output ${APP_CAN_UTILS_HEADER_OUTPUT}
-            --app_can_utils_source_output ${APP_CAN_UTILS_SRC_OUTPUT}
-            --app_can_alerts_header_output ${APP_CAN_ALERTS_HEADER_OUTPUT}
-            --app_can_alerts_source_output ${APP_CAN_ALERTS_SRC_OUTPUT}
+            --output_dir ${OUTPUT_DIR}
             --dbc_output ${DBC_OUTPUT}
             DEPENDS ${CAN_JSON_SRCS} ${CAN_JSON_PY_SRCS}
             WORKING_DIRECTORY ${REPO_ROOT_DIR}
@@ -76,6 +69,8 @@ function(jsoncan_sources JSONCAN_PY_BOARD OUTPUT_DIR USE_IO CAR)
                 ${APP_CAN_UTILS_HEADER_OUTPUT}
                 ${APP_CAN_ALERTS_SRC_OUTPUT}
                 ${APP_CAN_ALERTS_HEADER_OUTPUT}
+                ${APP_CAN_DATA_CAPTURE_SRC_OUTPUT}
+                ${APP_CAN_DATA_CAPTURE_HEADER_OUTPUT}
                 PARENT_SCOPE
         )
         set(CAN_INCLUDE_DIRS
@@ -96,6 +91,8 @@ function(jsoncan_sources JSONCAN_PY_BOARD OUTPUT_DIR USE_IO CAR)
                 ${APP_CAN_UTILS_HEADER_OUTPUT}
                 ${APP_CAN_ALERTS_SRC_OUTPUT}
                 ${APP_CAN_ALERTS_HEADER_OUTPUT}
+                ${APP_CAN_DATA_CAPTURE_SRC_OUTPUT}
+                ${APP_CAN_DATA_CAPTURE_HEADER_OUTPUT}
                 PARENT_SCOPE
         )
         set(CAN_INCLUDE_DIRS