Bring up complete motor controller yamcan definition

Added support for signal ID offset

components/bms_boss/include/CANIO_componentSpecific.h

@@ -59,5 +59,7 @@ CAN_prechargeContactorState_E CANIO_tx_getContactorState(void);
 #define set_elconMaxChargeCurrent(m,b,n,s) set(m,b,n,s, BMS.pack_charge_limit)
 #define set_elconControlByte(m,b,n,s) set(m,b,n,s, CANIO_tx_getElconControlByte())
 #define transmit_BMSB_elconChargeCommand (SYS_SFT_checkElconChargerTimeout() == false)
-
-#include "TemporaryStubbing.h"
+#define transmit_BMSB_currentLimit (SYS_SFT_checkMCTimeout() == false)
+#define set_maxCharge(m,b,n,s) set(m,b,n,s, BMS.pack_charge_limit);
+#define set_maxDischarge(m,b,n,s) set(m,b,n,s, BMS.pack_discharge_limit);
+#include "TemporaryStubbing.h"

network/NetworkGen/NetworkGen.py

@@ -42,6 +42,7 @@
     "description": str,
     "onBuses": Or(str, list[str]),
     Optional("duplicateNode"): int,
+    Optional("baseId"): int,
 })
 
 SIGNAL_SCHEMA = Schema({
@@ -58,6 +59,7 @@
     Optional("description"): str,
     Optional("cycleTimeMs"): int,
     Optional("id"): int,
+    Optional("idOffset"): int,
     Optional("lengthBytes"): int,
     Optional("sourceBuses"): Or(str, list[str]),
     Optional("signals"): dict,
@@ -357,30 +359,25 @@ def process_node(node: CanNode):
             MESSAGE_SCHEMA.validate(definition)
             if "lengthBytes" in definition and (definition["lengthBytes"] < 1 or definition["lengthBytes"] > 8):
                 raise Exception("Message length must be greater than 0 and less than or equal to 8")
-            if "id" not in definition:
-                raise Exception("Message must have a specified 'id'")
+            if "id" not in definition and "idOffset" not in definition:
+                raise Exception("Message must have a specified 'id' or 'idOffset'")
+            elif "id" in definition and "idOffset" in definition:
+                raise Exception("Message cannot have an 'id' and 'idOffset' at the same time")
         except Exception as e:
             print(f"CAN message definition for '{name}' in node '{node.name}' is invalid.")
             print(f"Message Schema Error: {e}")
             error = True
             continue
 
-        definition["id"] = definition["id"] + node.offset;
-        if "sourceBuses" in definition:
-            ls = []
-            if type(definition["sourceBuses"]) is str:
-                ls.append(definition["sourceBuses"])
-            else: 
-                ls = definition["sourceBuses"]
-            for bus in ls:
-                if bus not in can_bus_defs:
-                    print(f"Message '{msg_name}' has an undefined bus '{bus}'.")
-                    ERROR = True
-                    break
-                if bus not in node.on_buses:
-                    print(f"Message '{msg_name}' is on bus '{bus}' but node '{node.name}' is not on that bus.")
-                    ERROR = True
-                    break
+        if "idOffset" in definition:
+            if node.baseId is None:
+                print(f"Message '{name}' has a 'idOffset' specified and {node.name} does not have a 'baseId' specified")
+                ERROR = True
+                break
+            else:
+                definition["id"] = definition["idOffset"] + node.baseId + node.offset
+        else:
+            definition["id"] = definition["id"] + node.offset
 
         for existing_node in can_nodes:
             for msg in can_nodes[existing_node].messages:

network/NetworkGen/classes/Can.py

@@ -430,7 +430,6 @@ def validate_msg(self):
                         signal.start_bit + signal.native_representation.bit_width
                     )
                 except Exception as e:
-                    breakpoint()
                     raise Exception(e)
 
         # validate validationRoles of signals
@@ -507,7 +506,7 @@ def __init__(self, name, node_def):
             self.duplicateNode = True
             self.alias = self.name + str(self.offset)
             self.total_duplicates = get_if_exists(node_def, "duplicateNode", int, 1)
-
+        self.baseId = get_if_exists(node_def, "baseId", int, None)
         self.def_files = node_def["def_files"]
         self.description: str = get_if_exists(node_def, "description", str, "")
         self.messages: Dict[str, CanMessage] = {}

network/NetworkGen/classes/Types.py

@@ -92,6 +92,11 @@ class Units(Enum):
     amps = "A"
     rpm = "RPM"
     pct = "%"
+    Nm = "Nm"
+    deg = "deg"
+    Hz = "Hz"
+    Wb = "Wb"
+
 
 
 class ValidationRole(Enum):

network/definition/data/components/bmsb/bmsb-message.yaml

@@ -56,3 +56,12 @@ messages:
       elconMaxChargeVoltage:
       elconMaxChargeCurrent:
       elconControlByte:      
+
+  currentLimit:
+    description: BMS Torque limit
+    id: 0x202
+    cycleTimeMs: 100
+    sourceBuses: veh
+    signals:
+      maxDischarge:
+      maxCharge:

network/definition/data/components/bmsb/bmsb-signals.yaml

@@ -131,3 +131,29 @@ signals:
         min: 0
         max: 25
     continuous: true
+
+  maxDischarge:
+    unit: 'A'
+    description: BMS Limit Discharge Current
+    nativeRepresentation:
+      endianness: little
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: 0
+        max: 1000
+      signedness: unsigned
+    continuous: true
+
+  maxCharge:
+    unit: 'A'
+    description: BMS Limit Charge Current
+    nativeRepresentation:
+      endianness: little
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: 0
+        max: 75
+      signedness: unsigned
+    continuous: true