ELEC-575: Fix generation of fake data for driver display (#33)

- Add function to generate fake CAN messages with source and ID pre-specified.
- Use codegen-tooling to generate new go package, canmsgdefs, that defines CAN message IDs.
- Add function to generate uint64 rawData when passing in several uint8/uint16/uint32.
- Update generation of CAN messages for publishing over message bus.

client/src/ts/dd_main.ts

@@ -186,11 +186,18 @@ ws.onmessage = (event) => {
   const msg = JSON.parse(event.data);
 
   switch (msg.id) {
+    case canDefs.CanMessage.CAN_MESSAGE_BPS_HEARTBEAT:
+      console.log(event.data);
+      break;
     case canDefs.CanMessage.CAN_MESSAGE_SOLAR_DATA_REAR:  // Not working.
-      // solarReadout.value(msg.data);
+      const solarRearPower = (msg.data.voltage / 1000) *
+          (msg.data.current / 1000);
+      solarReadout.value(solarRearPower);
       break;
     case canDefs.CanMessage.CAN_MESSAGE_SOLAR_DATA_FRONT:  // Not working.
-      // solarReadout.value(msg.data);
+      const solarFrontPower = (msg.data.voltage / 1000) *
+          (msg.data.current / 1000);
+      solarReadout.value(solarFrontPower);
       break;
     case canDefs.CanMessage.CAN_MESSAGE_MOTOR_VELOCITY:
       // The << 32 >> 32 converts from unsigned to signed.
@@ -207,6 +214,7 @@ ws.onmessage = (event) => {
     case canDefs.CanMessage.CAN_MESSAGE_MOTOR_CONTROLLER_VC:
       const power = msg.data.mc_voltage_1 * msg.data.mc_current_1 +
           msg.data.mc_voltage_2 * msg.data.mc_current_2;
+      consumptionReadout.value(power);
       break;
     case canDefs.CanMessage.CAN_MESSAGE_DRIVE_OUTPUT:
       if (msg.data.direction === 0) {
@@ -270,10 +278,10 @@ ws.onmessage = (event) => {
           (converted_voltage).toFixed(1) + ' V';
       power_consumption_graph.addData(
           {x: msg.timestamp, y: converted_current * converted_voltage});
-      consumptionReadout.value(power);
       batteryDial.value(mapSocPercent(converted_voltage));
       break;
     default:
+      console.log(`No handler found: data=${event.data}`);
       break;
   }
 };

pkg/canmsgdefs/can_msg_defs.go

@@ -0,0 +1,74 @@
+package canmsgdefs
+
+// NOTE: This file is generated by codegen-tooling,
+// with minor changes so that Golint doesn't complain.
+// Currently, this file is copy-pasted from codegen output.
+
+// TODO: Automate this process.
+
+// CanDeviceID is a 16-bit integer for the source of a CAN message
+type CanDeviceID uint16
+
+// CanMsgID is a 32-bit integer for the type of CAN message
+type CanMsgID uint32
+
+// For setting the CAN device
+const (
+	SystemCanDeviceReserved         CanDeviceID = 0
+	SystemCanDevicePlutus           CanDeviceID = 1
+	SystemCanDevicePlutusSlave      CanDeviceID = 2
+	SystemCanDeviceChaos            CanDeviceID = 3
+	SystemCanDeviceTelemetry        CanDeviceID = 4
+	SystemCanDeviceLightsFront      CanDeviceID = 5
+	SystemCanDeviceLightsRear       CanDeviceID = 6
+	SystemCanDeviceMotorController  CanDeviceID = 7
+	SystemCanDeviceDriverControls   CanDeviceID = 8
+	SystemCanDeviceDriverDisplay    CanDeviceID = 9
+	SystemCanDeviceSolarMasterFront CanDeviceID = 10
+	SystemCanDeviceSolarMasterRear  CanDeviceID = 11
+	SystemCanDeviceSensorBoard      CanDeviceID = 12
+	SystemCanDeviceCharger          CanDeviceID = 13
+)
+
+// For setting the CAN message ID
+const (
+	SystemCanMessageBpsHeartbeat           CanMsgID = 0
+	SystemCanMessagePowerDistributionFault CanMsgID = 1
+	SystemCanMessageBatteryRelayMain       CanMsgID = 2
+	SystemCanMessageBatteryRelaySlave      CanMsgID = 3
+	SystemCanMessageMotorRelay             CanMsgID = 4
+	SystemCanMessageSolarRelayRear         CanMsgID = 5
+	SystemCanMessageSolarRelayFront        CanMsgID = 6
+	SystemCanMessagePowerState             CanMsgID = 7
+	SystemCanMessagePowertrainHeartbeat    CanMsgID = 8
+	SystemCanMessageMotorControllerReset   CanMsgID = 15
+	SystemCanMessageOvuvDcdcAux            CanMsgID = 16
+	SystemCanMessageMcErrorLimits          CanMsgID = 17
+	SystemCanMessageDriveOutput            CanMsgID = 18
+	SystemCanMessageCruiseTarget           CanMsgID = 19
+	SystemCanMessageFanControl             CanMsgID = 20
+	SystemCanMessageSetDischargeBitset     CanMsgID = 21
+	SystemCanMessageDischargeState         CanMsgID = 22
+	SystemCanMessageLightsSync             CanMsgID = 23
+	SystemCanMessageLightsState            CanMsgID = 24
+	SystemCanMessageHorn                   CanMsgID = 25
+	SystemCanMessageChargerConnState       CanMsgID = 26
+	SystemCanMessageChargerSetRelayState   CanMsgID = 27
+	SystemCanMessageSteeringAngle          CanMsgID = 28
+	SystemCanMessageBatterySoc             CanMsgID = 31
+	SystemCanMessageBatteryVt              CanMsgID = 32
+	SystemCanMessageBatteryAggregateVc     CanMsgID = 33
+	SystemCanMessageMotorControllerVc      CanMsgID = 35
+	SystemCanMessageMotorVelocity          CanMsgID = 36
+	SystemCanMessageMotorDebug             CanMsgID = 37
+	SystemCanMessageMotorTemps             CanMsgID = 38
+	SystemCanMessageMotorAmpHr             CanMsgID = 39
+	SystemCanMessageOdometer               CanMsgID = 40
+	SystemCanMessageAuxDcdcVc              CanMsgID = 43
+	SystemCanMessageDcdcTemps              CanMsgID = 44
+	SystemCanMessageSolarDataFront         CanMsgID = 45
+	SystemCanMessageSolarDataRear          CanMsgID = 46
+	SystemCanMessageChargerInfo            CanMsgID = 47
+	SystemCanMessageLinearAcceleration     CanMsgID = 51
+	SystemCanMessageAngularRotation        CanMsgID = 52
+)

pkg/msgs/can_msgs.go

@@ -62,6 +62,25 @@ func NewCAN(rawID uint32, rawData uint64, dlc uint8) CAN {
 	return canMsg
 }
 
+// NewFakeCAN creates a CAN struct with an ID already specified.
+func NewFakeCAN(source uint8, ID uint16, rawData uint64, dlc uint8) CAN {
+	var canMsg CAN
+	canMsg.DLC = dlc
+	canMsg.Data = make(map[string]interface{})
+	canMsg.Timestamp = uint64(time.Now().UnixNano()) / uint64(time.Millisecond)
+	canMsg.Source = source
+	canMsg.RTR = false
+	canMsg.ID = ID
+	srcMsg := findCanMessage(uint32(canMsg.ID))
+	if srcMsg == nil {
+		log.Errorf("Error: no matching schema for", canMsg.ID)
+		canMsg.Data["raw"] = rawData
+	} else {
+		unpackByType(rawData, srcMsg, &canMsg)
+	}
+	return canMsg
+}
+
 func parse(rawID uint32, rawData uint64, canMsg *CAN) {
 	canMsg.Timestamp = uint64(time.Now().UnixNano()) / uint64(time.Millisecond)
 	canMsg.Source = uint8(rawID & 0xF)
@@ -71,7 +90,12 @@ func parse(rawID uint32, rawData uint64, canMsg *CAN) {
 	if srcMsg == nil {
 		log.Errorf("Error: no matching schema for", canMsg.ID)
 		canMsg.Data["raw"] = rawData
+		return
 	}
+	unpackByType(rawData, srcMsg, canMsg)
+}
+
+func unpackByType(rawData uint64, srcMsg *canpb.CanMsg, canMsg *CAN) {
 	switch srcMsg.GetCanData().GetFrame().(type) {
 	case *canpb.CanData_U8:
 		data := srcMsg.GetCanData().GetU8()
@@ -112,7 +136,8 @@ func parse(rawID uint32, rawData uint64, canMsg *CAN) {
 		data := srcMsg.GetCanData().GetU16()
 		name := data.GetFieldName_1()
 		if name != "" {
-			canMsg.Data[name] = extractData(rawData, 0xFFFF, 1, 16)
+			value := extractData(rawData, 0xFFFF, 1, 16)
+			canMsg.Data[name] = value
 		}
 		name = data.GetFieldName_2()
 		if name != "" {