systemDiagnostics.hpp

Go to the documentation of this file.

#pragma once
 
#include <cstdlib>
#include "metro.h"
#include "Arduino.h"
 
#include "embedded/digitalSettings.hpp"
#include "debugUtils.hpp"
 
constexpr unsigned long READY_TIMEOUT_MS = 5000;
constexpr unsigned long RELEASE_EBS_TIMEOUT_MS = 1000;
constexpr unsigned long ENGAGE_EBS_TIMEOUT_MS = 5000;
 
struct R2DLogics {
    Metro readyTimestamp{READY_TIMEOUT_MS};
 
    Metro releaseEbsTimestamp{RELEASE_EBS_TIMEOUT_MS}; 
 
    Metro engageEbsTimestamp{ENGAGE_EBS_TIMEOUT_MS};
    bool r2d{false};
 
    void enterReadyState() {
        readyTimestamp.reset();
        engageEbsTimestamp.reset();
        r2d = false;
    }
 
 
    void enterDrivingState() {
        releaseEbsTimestamp.reset();
    }
 
 
    bool processGoSignal() {
        // If r2d is not received or received before 5 seconds, return false
        if (readyTimestamp.check()) {
            r2d = true;
            return EXIT_SUCCESS;
        }
        // If r2d is received after the timeout duration, return true
        r2d = false;
        return EXIT_FAILURE;
    }
};
 
struct FailureDetection {
    Metro pcAliveTimestamp{COMPONENT_TIMESTAMP_TIMEOUT};
    Metro steerAliveTimestamp{COMPONENT_TIMESTAMP_TIMEOUT};
    Metro inversorAliveTimestamp{COMPONENT_TIMESTAMP_TIMEOUT};
    Metro resSignalLossTimestamp{RES_TIMESTAMP_TIMEOUT};
    bool emergencySignal{false};
    bool ts_on{false};
    double radio_quality{0};
 
    [[nodiscard]] bool hasAnyComponentTimedOut() {
        bool steer_dead = steerAliveTimestamp.checkWithoutReset();
        bool pc_dead = pcAliveTimestamp.checkWithoutReset();
        bool inversor_dead = inversorAliveTimestamp.checkWithoutReset();
        bool res_dead = resSignalLossTimestamp.checkWithoutReset();
        if (steer_dead) {
            DEBUG_PRINT_VAR(steer_dead);
        }
        if (pc_dead) {
            DEBUG_PRINT_VAR(pc_dead);
        }
        if (inversor_dead) {
            DEBUG_PRINT_VAR(inversor_dead);
        }
        if (res_dead) {
            DEBUG_PRINT_VAR(res_dead);
        }
        return steer_dead || pc_dead || inversor_dead || res_dead;
            // pcAliveTimestamp.check() ||
            //    steerAliveTimestamp.check();
            //    inversorAliveTimestamp.check();
            //    resSignalLossTimestamp.check();
    }
};