From f26130c4cf0c3f7ca834b4eb4d25cf63fad19df1 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Sat, 18 Jan 2025 21:05:03 -0800
Subject: [PATCH] Heartbeat Hotfix (#1426)

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

### 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
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---
 firmware/quadruna/BMS/src/tasks.c              | 2 ++
 firmware/quadruna/CRIT/src/tasks.c             | 3 ++-
 firmware/quadruna/RSM/src/tasks.c              | 3 ++-
 firmware/quadruna/VC/src/tasks.c               | 2 ++
 firmware/shared/src/app/app_heartbeatMonitor.c | 8 ++++++++
 firmware/shared/src/app/app_heartbeatMonitor.h | 2 ++
 6 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/firmware/quadruna/BMS/src/tasks.c b/firmware/quadruna/BMS/src/tasks.c
index 938f3b14d4..9da0ed9281 100644
--- a/firmware/quadruna/BMS/src/tasks.c
+++ b/firmware/quadruna/BMS/src/tasks.c
@@ -42,6 +42,7 @@
 #include "app_globals.h"
 #include "states/app_initState.h"
 #include "app_stateMachine.h"
+#include "app_heartbeatMonitors.h"
 
 #include "shared.pb.h"
 #include "BMS.pb.h"
@@ -289,6 +290,7 @@ void tasks_init(void)
     app_soc_init();
     app_globals_init(&globals_config);
     app_stateMachine_init(app_initState_get());
+    app_heartbeatMonitor_init(&hb_monitor);
 
     // broadcast commit info
     app_canTx_BMS_Hash_set(GIT_COMMIT_HASH);
diff --git a/firmware/quadruna/CRIT/src/tasks.c b/firmware/quadruna/CRIT/src/tasks.c
index 500971da6d..7fdbb75793 100644
--- a/firmware/quadruna/CRIT/src/tasks.c
+++ b/firmware/quadruna/CRIT/src/tasks.c
@@ -5,7 +5,7 @@
 #include "shared.pb.h"
 #include "CRIT.pb.h"
 // app
-#include "app_heartbeatMonitor.h"
+#include "app_heartbeatMonitors.h"
 #include "app_stateMachine.h"
 #include "app_mainState.h"
 // io
@@ -386,6 +386,7 @@ void tasks_init(void)
     app_canTx_init();
     app_canRx_init();
 
+    app_heartbeatMonitor_init(&hb_monitor);
     app_stateMachine_init(app_mainState_get());
 
     // broadcast commit info
diff --git a/firmware/quadruna/RSM/src/tasks.c b/firmware/quadruna/RSM/src/tasks.c
index 4b45b34b59..1f9cf9475a 100644
--- a/firmware/quadruna/RSM/src/tasks.c
+++ b/firmware/quadruna/RSM/src/tasks.c
@@ -8,7 +8,7 @@
 #include "app_canAlerts.h"
 #include "app_commitInfo.h"
 #include "app_coolant.h"
-#include "app_heartbeatMonitor.h"
+#include "app_heartbeatMonitors.h"
 
 #include "io_jsoncan.h"
 #include "io_canRx.h"
@@ -147,6 +147,7 @@ void tasks_init(void)
     io_brake_light_init(&brake_light);
     app_coolant_init();
 
+    app_heartbeatMonitor_init(&hb_monitor);
     app_stateMachine_init(app_mainState_get());
 
     app_canTx_RSM_Hash_set(GIT_COMMIT_HASH);
diff --git a/firmware/quadruna/VC/src/tasks.c b/firmware/quadruna/VC/src/tasks.c
index 1f35e6a3a3..c243b7b34f 100644
--- a/firmware/quadruna/VC/src/tasks.c
+++ b/firmware/quadruna/VC/src/tasks.c
@@ -11,6 +11,7 @@
 #include "app_canDataCapture.h"
 #include "app_commitInfo.h"
 #include "app_faultCheck.h"
+#include "app_heartbeatMonitors.h"
 
 #include "io_jsoncan.h"
 #include "io_log.h"
@@ -324,6 +325,7 @@ void tasks_init(void)
     app_canAlerts_VC_Warning_HighNumberOfCanDataLogs_set(io_canLogging_getCurrentLog() > HIGH_NUMBER_OF_LOGS_THRESHOLD);
     app_canAlerts_VC_Warning_CanLoggingSdCardNotPresent_set(!sd_card_present);
 
+    app_heartbeatMonitor_init(&hb_monitor);
     app_stateMachine_init(app_initState_get());
     io_telemMessage_init(&modem);
 
diff --git a/firmware/shared/src/app/app_heartbeatMonitor.c b/firmware/shared/src/app/app_heartbeatMonitor.c
index 86746fe8de..56f9ab0694 100644
--- a/firmware/shared/src/app/app_heartbeatMonitor.c
+++ b/firmware/shared/src/app/app_heartbeatMonitor.c
@@ -1,5 +1,13 @@
 #include "app_heartbeatMonitor.h"
 
+void app_heartbeatMonitor_init(const HeartbeatMonitor *hbm)
+{
+    for (int i = 0; i < hbm->board_count; i++)
+    {
+        app_heartbeatBoard_init(&hbm->boards[i]);
+    }
+}
+
 void app_heartbeatMonitor_checkIn(const HeartbeatMonitor *hbm)
 {
     hbm->own_heartbeat(true);
diff --git a/firmware/shared/src/app/app_heartbeatMonitor.h b/firmware/shared/src/app/app_heartbeatMonitor.h
index 296b0c0190..40e2495e92 100644
--- a/firmware/shared/src/app/app_heartbeatMonitor.h
+++ b/firmware/shared/src/app/app_heartbeatMonitor.h
@@ -10,6 +10,8 @@ typedef struct
     void (*own_heartbeat)(bool);
 } HeartbeatMonitor;
 
+void app_heartbeatMonitor_init(const HeartbeatMonitor *hbm);
+
 void app_heartbeatMonitor_checkIn(const HeartbeatMonitor *hbm);
 
 void app_heartbeatMonitor_broadcastFaults(const HeartbeatMonitor *hbm);