#810 handle ELEC CAN debug frames and increase number of data points for filtered wind sensor moving average (#811)

* Safely ignore ELEC CAN debug frames

* change number of data points for moving average to 20

Author: lross03

src/network_systems/projects/can_transceiver/inc/can_frame_parser.h

@@ -111,7 +111,9 @@ enum class CanId : canid_t {
     PRESSURE_14           = 0x13E,
     PRESSURE_SENSOR_END   = 0x13F,
     GENERIC_SENSOR_START  = 0x140,
-    GENERIC_SENSOR_END    = 0x1FF
+    GENERIC_SENSOR_END    = 0x1FF,
+    DEBUG_START           = 0x200,
+    DEBUG_END             = 0x2FF
 };
 
 inline bool isValidCanId(canid_t id)
@@ -135,7 +137,9 @@ inline bool isValidCanId(canid_t id)
             id <= static_cast<canid_t>(CanId::PRESSURE_SENSOR_END)) ||
 
            (id >= static_cast<canid_t>(CanId::GENERIC_SENSOR_START) &&
-            id <= static_cast<canid_t>(CanId::GENERIC_SENSOR_END));
+            id <= static_cast<canid_t>(CanId::GENERIC_SENSOR_END)) ||
+
+           (id >= static_cast<canid_t>(CanId::DEBUG_START) && id <= static_cast<canid_t>(CanId::DEBUG_END));
 }
 
 /**

src/network_systems/projects/can_transceiver/src/can_transceiver.cpp

@@ -27,13 +27,21 @@ void CanTransceiver::onNewCanData(const CanFrame & frame) const
         return;
     }
     CanId id{frame.can_id};
-    if (read_callbacks_.contains(id)) {
-        read_callbacks_.at(id)(frame);  // invoke the callback function mapped to id
+
+    if (id >= CanId::DEBUG_START && id <= CanId::DEBUG_END) {
+        // ELEC debug frame, do nothing
+        return;
     }
 
     //0x100 - 0x1FF: Generic sensor data frame range
     if (id >= CanId::GENERIC_SENSOR_START && id <= CanId::GENERIC_SENSOR_END) {
         read_callbacks_.at(CanId::GENERIC_SENSOR_START)(frame);
+        return;
+    }
+
+    if (read_callbacks_.contains(id)) {
+        read_callbacks_.at(id)(frame);  // invoke the callback function mapped to id
+        return;
     }
 }
 

src/network_systems/projects/can_transceiver/src/can_transceiver_ros_intf.cpp

@@ -368,9 +368,8 @@ class CanTransceiverIntf : public NetNode
             wind_sensor_msg                   = wind_sensor.toRosMsg();
             wind_sensors_pub_->publish(wind_sensors_);
 
-            // NUM_WIND_SENSORS is a placeholder,
-            // replace with number of data points wanted in the moving average
-            double k = NUM_WIND_SENSORS;
+            // Arbitrary number of data points for moving average
+            double k = 20;  //NOLINT(readability-magic-numbers)
             // convert deg to rad
             double angle = wind_sensor_msg.direction * (M_PI / 180.0);  // NOLINT(readability-magic-numbers)
             double y     = wind_sensor_msg.speed.speed * sin(angle);