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‎.github/ISSUE_TEMPLATE.md‎

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<!--
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Thanks for filing an OSCC issue! You're making our ecosystem a better place!
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Below are some templates to get you started, filling out any that are relevant
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to this issue will help us a lot! Feel free to delete any information or text
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that isn't relevant to your issue.
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-->
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<!-- Questions about purchasing and pricing for OSCC boards or DriveKit?
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Shoot an email to drivekit@polysync.io -->
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<!--
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Technical issue template.
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Are you having a technical issue? Fill in the following blocks to help us
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tackle it!
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-->
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### Expected behavior
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<!-- What should be happening? -->
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### Actual behavior
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<!-- What behavior are you seeing? -->
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### Steps to reproduce
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<!-- How can we make it happen too? -->
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### Version info
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- _What's the output of running `git describe --tags` in your OSCC directory?_
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- _Is this the same version flashed onto the hardware?_
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### Hardware info
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<!-- Are you using a custom board or something received from us? -->
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<!--
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Feature/changes issue template.
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Are you interested in a new feature or a change to something that exists?
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Fill in the following blocks to help us understand it!
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-->
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### Proposed feature or changes
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<!-- What would you like to accomplish? -->
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### Use case
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<!-- How would you like to do it? -->
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<!--
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Documentation issue template.
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Have you found a bug in documentation or wish something was documented that
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isn't? Fill in the following blocks to help us help you!
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-->
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### Documentation expected
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<!-- What information would help you? Where would you expect to find it? -->
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### Documentation available
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<!-- What were you able to find? Was it in the right spot? -->
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<!--
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Is your issue something that doesn't fit any of the templates above?
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Let us know here!
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-->

‎Jenkinsfile‎

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sh 'cd firmware && mkdir build_kia_soul_petrol_unit_tests && cd build_kia_soul_petrol_unit_tests && cmake .. -DKIA_SOUL=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-unit-tests'
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echo 'Kia Soul Petrol Unit Tests Complete!'
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}, 'kia soul petrol property-based tests': {
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sh 'cd firmware && mkdir build_kia_soul_petrol_property_tests && cd build_kia_soul_petrol_property_tests && cmake .. -DKIA_SOUL=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-property-tests'
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echo 'Kia Soul Petrol Property-Based Tests Complete!'
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withEnv(["PATH+CARGO=$HOME/.cargo/bin"]) {
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sh 'cd firmware && mkdir build_kia_soul_petrol_property_tests && cd build_kia_soul_petrol_property_tests && cmake .. -DKIA_SOUL=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-property-tests'
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echo 'Kia Soul Petrol Property-Based Tests Complete!'
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}
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}
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echo 'Kia Soul Petrol Tests Complete!'
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}
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sh 'cd firmware && mkdir build_kia_soul_ev_unit_tests && cd build_kia_soul_ev_unit_tests && cmake .. -DKIA_SOUL_EV=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-unit-tests'
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echo 'Kia Soul EV Unit Tests Complete!'
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}, 'kia soul ev property-based tests': {
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sh 'cd firmware && mkdir build_kia_soul_ev_property_tests && cd build_kia_soul_ev_property_tests && cmake .. -DKIA_SOUL_EV=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-property-tests'
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echo 'Kia Soul EV Property-Based Tests Complete!'
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withEnv(["PATH+CARGO=$HOME/.cargo/bin"]) {
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sh 'cd firmware && mkdir build_kia_soul_ev_property_tests && cd build_kia_soul_ev_property_tests && cmake .. -DKIA_SOUL_EV=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-property-tests'
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echo 'Kia Soul EV Property-Based Tests Complete!'
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}
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}
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echo 'Kia Soul EV Tests Complete!'
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}
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finally {
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deleteDir()
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}
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}
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}

‎README.md‎

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cd build
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```
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To generate Makefiles, tell `cmake` which platform to build firmware for. For example, if you want to build
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firmware for the Kia Soul:
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To generate Makefiles, tell `cmake` which vehicle to build for by supplying the
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appropriate build flag:
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| Vehicle | Flag |
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| --------------- | ---------------- |
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| Kia Soul Petrol | -DKIA_SOUL=ON |
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| Kia Soul EV | -DKIA_SOUL_EV=ON |
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For example, if you want to build firmware for the petrol Kia Soul:
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```
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cmake .. -DKIA_SOUL=ON
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cmake .. -DKIA_SOUL=ON -DSTEERING_OVERRIDE=OFF
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```
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If steering operator overrides remain enabled, the sensitivity can be adjusted by changing the value of the `TORQUE_DIFFERENCE_OVERRIDE_THRESHOLD` in the corresponding vehicle's header file.
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If steering operator overrides remain enabled, the sensitivity can be adjusted by changing the value of the `TORQUE_DIFFERENCE_OVERRIDE_THRESHOLD` in the corresponding vehicle's header file.
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* Lowering this value will make the steering module more sensitive to operator override, but will result in false positives around high-torque areas, such as the mechanical limits of the steering rack or when quickly and rapidly changing direction.
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* Increasing this value will result in fewer false positives, but will make it more difficult to manually override the wheel.
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# Controlling Your Vehicle - an Example Application
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Now that all your Arduino modules are properly setup, it is time to start sending control commands.
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We've created an example application, joystick commander, that uses the OSCC API to interface with the firmware, allowing you to send commands using a game controller and receive reports from the on-board OBD-II CAN. These commands are converted into CAN messages, which the OSCC API sends to the respective Arduino modules and are used to actuate the vehicle.
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[OSCC Joystick Commander](https://github.com/PolySync/oscc-joystick-commander)
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We've also created a ROS node, that uses the OSCC API to interface with the firmware from ROS messages, allowing you to send commands and receive reports in ROS.
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[ROSCCO](https://github.com/PolySync/roscco)
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# OSCC API
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**Open and close CAN channel to OSCC Control CAN.**
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When the appropriate report for your callback function is received from the API's socket connection, it will then forward the
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report to your software.
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Each module's reports are described in their respective wiki sections:
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* [Brake (EV)](https://github.com/PolySync/oscc/wiki/Firmware-Brake-%28EV%29#brake-report)
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* [Brake (Petrol)](https://github.com/PolySync/oscc/wiki/Firmware-Brake-%28Petrol%29#brake-report)
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* [Steering](https://github.com/PolySync/oscc/wiki/Firmware-Steering#steering-report)
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* [Throttle](https://github.com/PolySync/oscc/wiki/Firmware-Throttle#throttle-report)
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In addition to OSCC specific reports, it will also forward any non-OSCC reports to any callback function registered with
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```subscribe_to_obd_messages```. This can be used to view CAN frames received from the vehicle's OBD-II CAN channel. If you know
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the corresponding CAN frame's id, you can parse reports sent from the car.
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# Additional Vehicles & Contributing
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OSCC currently has information regarding the Kia Soul PS (2014-2016), but we want to grow! The
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OSCC currently has information regarding the Kia Soul PS (2014-2018), but we want to grow! The
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repository is structured to facilitate including more vehicles as more is learned about them.
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In order to include information related to a new vehicle's specification, follow the format defined in ```api/include/vehicles/kia_soul.h``` and

‎api/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8)
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project(osccapi)
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include(${CMAKE_SOURCE_DIR}/OsccConfig.cmake)
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set(INCLUDES ${CMAKE_SOURCE_DIR}/include ${CMAKE_SOURCE_DIR}/src)
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set(SOURCES ${CMAKE_SOURCE_DIR}/src/oscc.c)
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set_source_files_properties(SOURCES PROPERTIES LANGUAGE C)
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set(OBJECTS ${PROJECT_NAME}_objects)
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set(SHARED_LIB ${PROJECT_NAME}_shared_lib)
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set(STATIC_LIB ${PROJECT_NAME}_static_lib)
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# Reuse object files for both shared and static libraries
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# rather than recompiling for both
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add_library(${OBJECTS} OBJECT ${SOURCES})
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target_include_directories(${OBJECTS} PUBLIC ${INCLUDES})
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set_target_properties(${OBJECTS} PROPERTIES POSITION_INDEPENDENT_CODE 1)
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add_library(${SHARED_LIB} SHARED $<TARGET_OBJECTS:${OBJECTS}>)
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set_target_properties(${SHARED_LIB} PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
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target_include_directories(${SHARED_LIB} PUBLIC ${INCLUDES})
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add_library(${STATIC_LIB} STATIC $<TARGET_OBJECTS:${OBJECTS}>)
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target_include_directories(${STATIC_LIB} PUBLIC ${INCLUDES})
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set_target_properties(${STATIC_LIB} PROPERTIES OUTPUT_NAME ${PROJECT_NAME})

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