fixed

Application/BSP/BSP_SDLogger.c

@@ -34,7 +34,7 @@ void BSP_SDLogger_Init(int log_number) {
         ULOG_ERROR("Failed to open file %s", file_name);
     }
 
-    //ULOG_SUBSCRIBE(BSP_SDLogger_ULOG, ULOG_DEBUG_LEVEL);
+    ULOG_SUBSCRIBE(BSP_SDLogger_ULOG, ULOG_DEBUG_LEVEL);
 
     // close the file
     f_close(&file);

Application/CLS_BSP/CLS_BSP.c

@@ -1,5 +1,4 @@
 #include "CLS_BSP.h"
-#include "CLSAddress.h"
 
 
 #ifdef CLS_BSP_FDCAN
@@ -68,9 +67,4 @@ CLS_Position_t CLS_BSP_GetPosition(void) {
 }
 
 void CLS_BSP_SetPosition(CLS_Position_t position) {
-}
-
-
-
-#include "BSP_GPIO.h"
-
+}

Application/CLS_BSP/CMakeLists.txt

@@ -12,4 +12,4 @@ target_sources(${PROJECT_NAME}
     )
 
 target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_LIST_DIR})
-target_link_libraries(${PROJECT_NAME} PRIVATE CLS BSP Vehicle)
+target_link_libraries(${PROJECT_NAME} PRIVATE CLS)

Application/CMakeLists.txt

@@ -2,5 +2,4 @@ add_subdirectory(Tasks)
 add_subdirectory(CLS)
 add_subdirectory(CLS_BSP)
 add_subdirectory(BSP)
-add_subdirectory(ram_loader)
-add_subdirectory(Vehicle)
+add_subdirectory(ram_loader)

Application/Tasks/CMakeLists.txt

@@ -22,4 +22,4 @@ target_sources(${PROJECT_NAME}
 
 target_include_directories(${PROJECT_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
 target_link_libraries(${PROJECT_NAME} PUBLIC PROTOS CLS)
-target_link_libraries(${PROJECT_NAME} PRIVATE Revision CLS_BSP BSP ulog Vehicle ram_loader)
+target_link_libraries(${PROJECT_NAME} PRIVATE Revision CLS_BSP BSP ulog ram_loader)

Application/Tasks/CanDataTask.c

@@ -11,7 +11,6 @@
 #include "ulog.h"
 #include "BSP_POWER.h"
 #include "BSP_GPIO.h"
-#include "Vehicle.h"
 // Define thread flags
 #define FLAG_FDCAN_RX_FIFO0  (1<<0)
 #define FLAG_FDCAN_RX_FIFO1  (1<<1)
@@ -47,7 +46,7 @@ const osThreadAttr_t CarCanTask_attr = {
   .priority = osPriorityNormal,
 };
 
-static uint64_t last_car_message_time = 0;
+
 
 uint32_t dlcDecode(uint32_t dlcCode) {
     switch(dlcCode) {
@@ -131,6 +130,11 @@ void CanDataTask_func(void *argument) {
     }   
 }
 
+static uint64_t last_unlock_message_time = UINT64_MAX;
+static uint64_t last_car_message_time = 0;
+static uint8_t car_can_brightness = 255;
+static float car_can_speed = 0;
+static int car_can_direction = 0;
 
 // convert byte to 2 hex characters
 void byteToHex(uint8_t byte, char * hex) {
@@ -139,10 +143,6 @@ void byteToHex(uint8_t byte, char * hex) {
     hex[1] = hexLookup[byte & 0x0F];
 }
 
-
-static FDCAN_RxHeaderTypeDef RxHeader = {0};
-static uint8_t RxData[8] = {0};
-
 void CarCanTask_func(void *argument) {
 
     // for testing accept all messages from the car can bus
@@ -152,8 +152,20 @@ void CarCanTask_func(void *argument) {
     }
 
 
-    Vehicle_Setup_CAN();
-     
+
+    FDCAN_FilterTypeDef sFilterConfig;
+    sFilterConfig.IdType = FDCAN_STANDARD_ID;
+    sFilterConfig.FilterIndex = 0;
+    sFilterConfig.FilterType = CLS_BSP_CAN_FILTER_LIST;
+    sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
+    sFilterConfig.FilterID1 = 0x391;
+    sFilterConfig.FilterID2 = 0x395;
+    HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
+
+    sFilterConfig.FilterIndex = 1;
+    sFilterConfig.FilterID1 = 0x351;
+    sFilterConfig.FilterID2 = 0x635;
+    HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
 
     /* Start the FDCAN module */
     if (HAL_FDCAN_Start(&hfdcan2) != HAL_OK){
@@ -164,7 +176,8 @@ void CarCanTask_func(void *argument) {
         Error_Handler();
     }
 
-
+    FDCAN_RxHeaderTypeDef RxHeader;
+    uint8_t RxData[8];
 
     for(;;) {
         // wait for interrupt event on any fifo
@@ -248,8 +261,71 @@ void CarCanTask_func(void *argument) {
             if (HAL_FDCAN_GetRxMessage(&hfdcan2, FDCAN_RX_FIFO1, &RxHeader, RxData) != HAL_OK) {
                 Error_Handler();
             } else {
+                char msg[17] = {0};
 
-                Vehicle_Receive_CAN(RxHeader, RxData);
+
+                // do something with the can data
+
+
+                if(RxHeader.Identifier == 0x391) {
+                    byteToHex(RxData[0], &msg[0]);
+                    byteToHex(RxData[1], &msg[2]);
+                    byteToHex(RxData[2], &msg[4]);
+                    if (RxData[1]  == 0x04)
+                    {
+                        // car was unlocked
+                        last_unlock_message_time = osKernelGetTickCount();
+                    } 
+                    else if (RxData[1]  ==0x80)
+                    {
+                        // car was locked
+                        if (!BSP_GPIO_K15isSet()) {
+                         NVIC_SystemReset();
+                        }
+                    }
+                
+                }
+
+                if (RxHeader.Identifier == 0x395) {
+                    byteToHex(RxData[0], &msg[0]);
+
+                    // send the unlock message to the car
+                    if ((RxData[0] & 0x0F) == 0x01) {
+                        // car was unlocked
+                        last_unlock_message_time = osKernelGetTickCount();
+                        ULOG_DEBUG("Unlock message received");
+
+                    } else if ((RxData[0] & 0x0F) == 0x02) {
+                        // car was locked
+                        if (!BSP_GPIO_K15isSet()) {
+                            NVIC_SystemReset();
+                        }
+                    }
+
+                }
+
+                // speed signal 
+                // AA BB XX YY 00 00 00 00 
+                // Speed (XX*(2^8)+(YY-1))/190
+                // direction AA = 0x00 forward, 0x02 backward
+                if (RxHeader.Identifier == 0x351) {
+
+                    uint16_t speed = (RxData[2] << 8) + RxData[3];
+                    float speed_kmh = (speed - 1) / 190.0;
+                    car_can_speed = speed_kmh;
+                    car_can_direction = RxData[0];
+                    ULOG_DEBUG("Speed: %f, Direction: %d", car_can_speed, car_can_direction);
+
+
+                }
+
+                // brightness knob in 0 - 100
+                if (RxHeader.Identifier == 0x635) {
+                    // scale the brightness to 0 - 255 only using integer math
+                    car_can_brightness = ((uint32_t)RxData[0] * 255) / 100;
+                    ULOG_DEBUG("Brightness: %d", car_can_brightness);
+
+                }
 
                 //ULOG_DEBUG("Used Car MSG: %x, %d %s", RxHeader.Identifier, CLS_BSP_DLC_ToBytes(RxHeader.DataLength), msg );
             }
@@ -263,6 +339,9 @@ void CarCanTask_func(void *argument) {
  * @return true if a car can message has been received
  * @return false if no car can message has been received
  */
+bool CanDataTask_gotCarCanMessage() {
+    return last_unlock_message_time != UINT64_MAX;
+}
 
 
 bool CanDataTask_CarCanActive() {
@@ -271,9 +350,20 @@ bool CanDataTask_CarCanActive() {
     }
 
     return osKernelGetTickCount() - last_car_message_time < 1000;
+
 }
 
+uint8_t CanDataTask_CarCanBrightness() {
+    return car_can_brightness;
+}
 
+float CanDataTask_CarCanSpeed() {
+    return car_can_speed;
+}
+
+int CanDataTask_CarCanDirectionIsForward() {
+    return car_can_direction == 0;
+}
 
 void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
     // Notify the thread

Application/Tasks/LightState.c

@@ -5,7 +5,6 @@
 #include "LightTask.h"
 #include "ulog.h"
 #include "stdbool.h"
-#include "Vehicle.h"
 
 // Create the task with a specific priority and stack size
 osThreadAttr_t task_attr = {
@@ -25,15 +24,89 @@ void LightStateTask_start(void)
 
 
 
+// Check if K15 is on for switching the light state
+static bool isK15On()
+{
+    return BSP_GPIO_K15isSet();
+}
+
+
+// Define the threshold voltage for engine running
+#define ENGINE_RUNNING_THRESHOLD 13.3 // 13.5V
+
+// Define thresholds with hysteresis
+#define ENGINE_RUNNING_THRESHOLD_HIGH (ENGINE_RUNNING_THRESHOLD + 0.125)
+#define ENGINE_RUNNING_THRESHOLD_LOW (ENGINE_RUNNING_THRESHOLD - 0.125)
+
+// Global variable to store the current engine state
+static bool engineRunning = false;
+
+// Function to initialize the engine state based on the initial voltage
+static void initializeEngineState()
+{
+    float initialVoltage = BSP_ADC_ReadBusValue();
+    if (initialVoltage > ENGINE_RUNNING_THRESHOLD)
+    {
+        engineRunning = true;
+    }
+    else
+    {
+        engineRunning = false;
+    }
+}
+
+// Ensure the engine state is initialized once
+static bool isEngineInitialized = false;
+
+static bool isEngineRunning()
+{
+    if (!isEngineInitialized)
+    {
+        initializeEngineState();
+        isEngineInitialized = true;
+    }
+
+    float voltage = BSP_ADC_ReadBusValue();
+
+    if (engineRunning)
+    {
+        // If engine is currently running, use the lower threshold to turn it off
+        if (voltage < ENGINE_RUNNING_THRESHOLD_LOW)
+        {
+            engineRunning = false;
+        }
+    }
+    else
+    {
+        // If engine is currently off, use the higher threshold to turn it on
+        if (voltage > ENGINE_RUNNING_THRESHOLD_HIGH)
+        {
+            engineRunning = true;
+        }
+
+
+
+    }
+    return engineRunning;
+}
+// check if the headlight is on and the engine is running to switch the light state
+// we can check the headlight using the GPIO functions
+static bool isHeadlightOn()
+{
+    return BSP_GPIO_HeadLightIsSet();
+}
+
+
+
 // Function to determine the next state of the light
 // return 1 as default state
 // return 2 if the engine is running
 // return 3 if the headlight and engine is running
 static int determineNextState()
 {
-    if (Vehicle_isHeadlightOn() && Vehicle_isEngineRunning()) {
+    if (isHeadlightOn() && isEngineRunning()) {
         return 2;
-    } else if (Vehicle_isEngineRunning()) {
+    } else if (isEngineRunning()) {
         return 1;
     } else {
         return 0;

Application/Tasks/LightTask.c

@@ -11,7 +11,6 @@
 #include "BSP_GPIO.h"
 
 #include "CanDataTask.h"
-#include "Vehicle.h"
 #include "BSP_ADC.h"
 #define DIMM_DEADZONE_VOLTAGE 0.7
 
@@ -78,19 +77,19 @@ void LightTask_func(void *argument) {
 
 
         // calculate the brightness to send
-        uint8_t brightness = lightSettings.brightness;
+        //uint8_t brightness = lightSettings.brightness;
         // Read ADC battery voltage and dimmer voltage
 
 
 
-        uint8_t dimm = 255;
+        //float dimmfactor = 1.0;
 
-        // currenlty not working
         // only dimm if the headlight is on
-        //if (Vehicle_isHeadlightOn()) {
+        //if (BSP_GPIO_HeadLightIsSet()) {
 
             // new version over CAN
-            //dimm  = Vehicle_Brightness();
+            //uint8_t precent = CanDataTask_CarCanBrightness();
+            //dimmfactor = (float)precent / 100.0;
 
             // old version over ADC
             // calculate the dimmfactor based on the battery voltage and the dimmer voltage
@@ -105,15 +104,14 @@ void LightTask_func(void *argument) {
             //} else {
             //    dimmfactor = (v_dimm - 4.0) / (v_bus - 4.0);
             //}
+       // }
 
-        //}
-
-        uint8_t adjustedBrightness = (brightness * dimm)/ 255;
-        lightSettings_dimmed.brightness = adjustedBrightness;
-        lightSettings_dimmed.theme = lightSettings.theme;
+        //uint8_t adjustedBrightness = (uint8_t)(brightness * dimmfactor);
+        //lightSettings_dimmed.brightness = adjustedBrightness;
+        //lightSettings_dimmed.theme = lightSettings.theme;
         
-        
-        CLS_BSP_CAN_AddMessageToSend(&can_header,(uint8_t*)&lightSettings_dimmed);
+        lightSettings.brightness = 255;
+        CLS_BSP_CAN_AddMessageToSend(&can_header,(uint8_t*)&lightSettings);
 
         if( settingChangeTime !=0 && tick > settingChangeTime + settingSaveTimeout) {
             BSP_EE24_PartWrite(BSP_EE24_PART_GLOBAL_LIGHT, (uint8_t*) &lightSettings, sizeof(lightSettings));

Application/Vehicle/CMakeLists.txt

@@ -1,32 +0,0 @@
-# Set the minimum required CMake version
-cmake_minimum_required(VERSION 3.12)
-
-# Set the project name
-project(Vehicle)
-
-# Add the source files for the library
-set(SOURCES
-Vehicle.c
-Vehicle_can.c
-)
-
-# Add the header files for the library
-set(HEADERS
-    Vehicle.h
-)
-
-# Create the library target
-add_library(Vehicle ${SOURCES} ${HEADERS})
-
-# Set the include directories for the library
-target_include_directories(Vehicle PUBLIC ./)
-
-# Set any additional compiler flags or options
-# target_compile_options(Vehicle PRIVATE ...)
-
-# Set any additional linker flags or options
-# target_link_options(Vehicle PRIVATE ...)
-
-# Specify any dependencies for the library
-target_link_libraries(Vehicle BSP CLS CLS_BSP)
-

Application/Vehicle/Vehicle.c

@@ -1,82 +0,0 @@
-
-#include "Vehicle.h"
-#include "BSP_GPIO.h"
-#include "stdbool.h"
-#include "BSP_ADC.h"
-
-// Define the threshold voltage for engine running
-#define ENGINE_RUNNING_THRESHOLD 13.0 // 13.5V
-
-// Define thresholds with hysteresis
-#define ENGINE_RUNNING_THRESHOLD_HIGH (ENGINE_RUNNING_THRESHOLD + 0.225)
-#define ENGINE_RUNNING_THRESHOLD_LOW (ENGINE_RUNNING_THRESHOLD - 0.225)
-
-// Global variable to store the current engine state
-static bool engineRunning = false;
-
-
-void Vehicle_Init() {
-    engineRunning = false;
-}
-
-bool Vehicle_isHeadlightOn()
-{
-    return BSP_GPIO_HeadLightIsSet();
-}
-
-bool Vehicle_isEngineRunning() {
-
-
-    float voltage = BSP_ADC_ReadBusValue();
-
-    if (engineRunning)
-    {
-        // If engine is currently running, use the lower threshold to turn it off
-        if (voltage < ENGINE_RUNNING_THRESHOLD_LOW)
-        {
-            engineRunning = false;
-        }
-    }
-    else
-    {
-        // If engine is currently off, use the higher threshold to turn it on
-        if (voltage > ENGINE_RUNNING_THRESHOLD_HIGH)
-        {
-            engineRunning = true;
-        }
-
-
-
-    }
-    return engineRunning;
-}
-
-bool Vehicle_isK15On() {
-    return BSP_GPIO_K15isSet();
-}
-
-
-
-
-
-
-#include "CLS.h"
-#include "CLS_BSP.h"
-#include "CLSAddress.h"
-
-static CLS_VehicleStatus_t status = {0};
-_Static_assert(sizeof(status) == 8, "CLS_HeatbeatData_t is not 8 bytes");
-
-void CLS_VehicleHeatbeat(void *argument) {
-    CLS_BSP_TxHeaderType cls_vehicle_header = CREATE_BSP_CAN_HEADER(GENERATE_CLS_ADDRESS(CLS_CODE_STATUS,0,CLS_CH_STA_VEHICLE), CLS_BSP_DLC_BYTES_8);
-
-    
-    status.k15 = Vehicle_isK15On();
-    status.headlight = Vehicle_isHeadlightOn();
-    status.engine = Vehicle_isEngineRunning();
-    status.speed = (uint8_t)Vehicle_Speed();
-    status.unlocked = Vehicle_UnlockedSignal();
-
-    CLS_BSP_CAN_AddMessageToSend(&cls_vehicle_header, (uint8_t*)&status);
-
-}

Application/Vehicle/Vehicle.h

@@ -1,24 +0,0 @@
-
-#include "fdcan.h"
-#include "stdint.h"
-#include "stdbool.h"
-
-void Vehicle_Init();
-
-bool Vehicle_isHeadlightOn();
-
-bool Vehicle_isEngineRunning();
-
-bool Vehicle_isK15On();
-
-
-void Vehicle_Setup_CAN();
-
-void Vehicle_Receive_CAN( FDCAN_RxHeaderTypeDef header, uint8_t* data);
-
-
-bool Vehicle_gotUnlockMessage();
-uint8_t Vehicle_Brightness();
-float Vehicle_Speed();
-int Vehicle_DirectionIsForward();
-bool Vehicle_UnlockedSignal();

Application/Vehicle/Vehicle_can.c

@@ -1,146 +0,0 @@
-#include "Vehicle.h"
-#include "fdcan.h"
-#include "CLS.h"
-#include "CLS_BSP.h"
-#include "BSP_GPIO.h"
-#include "cmsis_os2.h"
-
-static uint64_t last_unlock_message_time = UINT64_MAX;
-static uint8_t car_can_brightness = 255;
-static float car_can_speed = 0;
-static int car_can_direction = 0;
-
-
-void Vehicle_Setup_CAN() {
-
-
-    FDCAN_FilterTypeDef sFilterConfig;
-    sFilterConfig.IdType = FDCAN_STANDARD_ID;
-    sFilterConfig.FilterIndex = 0;
-    sFilterConfig.FilterType = CLS_BSP_CAN_FILTER_LIST;
-    sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
-    sFilterConfig.FilterID1 = 0x391;
-    sFilterConfig.FilterID2 = 0x395;
-    HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
-
-    sFilterConfig.FilterIndex = 1;
-    sFilterConfig.FilterID1 = 0x351;
-    sFilterConfig.FilterID2 = 0x635;
-    HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
-
-}
-
-
-static void rx_unlock_key(uint8_t * RxData ) {
-    if (RxData[1]  == 0x04)
-        {
-            // car was unlocked
-            last_unlock_message_time = osKernelGetTickCount();
-        } 
-        else if (RxData[1]  ==0x80)
-        {
-            // car was locked
-            if (!BSP_GPIO_K15isSet()) {
-                NVIC_SystemReset();
-            }
-        }
-
-}
-
-static void rx_unlock_secure(uint8_t * RxData ) {
-    if ((RxData[0] & 0x0F) == 0x01) {
-        // car was unlocked
-        last_unlock_message_time = osKernelGetTickCount();
-
-    } else if ((RxData[0] & 0x0F) == 0x02) {
-        // car was locked
-        if (!BSP_GPIO_K15isSet()) {
-            NVIC_SystemReset();
-        }
-    }
-
-
-}
-
-static void rx_speed(uint8_t *  RxData) {
-    // speed signal 
-    // AA BB XX YY 00 00 00 00 
-    // Speed (XX*(2^8)+(YY-1))/190
-    // direction AA = 0x00 forward, 0x02 backward
-    uint16_t speed = (RxData[2] << 8) + RxData[3];
-    float speed_kmh = (speed - 1) / 190.0;
-    car_can_speed = speed_kmh;
-    car_can_direction = RxData[0];
-    //ULOG_DEBUG("Speed: %f, Direction: %d", car_can_speed, car_can_direction);
-
-}
-
-static void rx_brightness(uint8_t* RxData) {
-    // scale the brightness to 0 - 255 only using integer math
-    car_can_brightness = ((uint32_t)RxData[0] * 255) / 100;
-    //ULOG_DEBUG("Brightness: %d", car_can_brightness);
-}
-
-void Vehicle_Receive_CAN( FDCAN_RxHeaderTypeDef RxHeader, uint8_t* RxData) {
-
-                if(RxHeader.Identifier == 0x391) {
-                    rx_unlock_key(RxData);
-                }
-
-                if (RxHeader.Identifier == 0x395) {
-                    rx_unlock_secure(RxData);
-                }
-
-
-                if (RxHeader.Identifier == 0x351) {
-                    rx_speed(RxData);
-                }
-
-                // brightness knob in 0 - 100
-                if (RxHeader.Identifier == 0x635) {
-                    rx_brightness(RxData);
-                }
-
-}
-
-
-
-bool Vehicle_gotUnlockMessage() {
-    return last_unlock_message_time != UINT64_MAX;
-}
-
-
-
-uint8_t Vehicle_Brightness() {
-    return car_can_brightness;
-}
-
-float Vehicle_Speed() {
-    return car_can_speed;
-}
-
-int Vehicle_DirectionIsForward() {
-    return car_can_direction == 0;
-}
-
-
-static bool unlocked = false;
-
- 
-bool Vehicle_UnlockedSignal() {
-
-    if (unlocked) {
-        if(Vehicle_isK15On()) {
-            unlocked = false;
-            last_unlock_message_time = UINT64_MAX;
-        }
-    }
-
-    if (!unlocked) {
-        if (Vehicle_gotUnlockMessage()) {
-            unlocked = true;
-        }
-    }
-
-    return unlocked;
-}

CMakeLists.txt

@@ -140,7 +140,7 @@ add_subdirectory("Application")
 add_executable(${CMAKE_PROJECT_NAME})
 target_sources(${CMAKE_PROJECT_NAME} PUBLIC ${sources_SRCS})
 
-target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC Tasks CLS CLS_BSP BSP EE24 INA219 ulog ram_loader Vehicle)
+target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC Tasks CLS CLS_BSP BSP EE24 INA219 ulog ram_loader)
 #target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC PROTOS)
 target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC uart_driver)
 #target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC lwrb)

Core/Src/freertos.c

@@ -40,7 +40,6 @@
 #include "BSP_GPIO.h"
 #include "BSP_ADC.h"
 #include "BSP_SDLogger.h"
-#include "Vehicle.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -237,7 +236,7 @@ void WaitForStartConfirm_Task(void *argument) {
   while(1) {
     osDelayUntil(tick);
     tick += delayTime;
-    if(BSP_GPIO_K15isSet() || Vehicle_gotUnlockMessage()) {
+    if(BSP_GPIO_K15isSet() || CanDataTask_gotCarCanMessage()) {
         BSP_POWER_FullPowerMode();
         ULOG_INFO("Power systems started");
         osThreadExit();

tools/set_device_type.py

@@ -6,10 +6,10 @@ if __name__ == "__main__":
         ser = setup_connection()
         # Create a message
         request = UpdateDeviceSettings()
-        request.device = 0
-        request.type = Type.COMMING_HOME
-        request.position.append(Position.LEFT)
-        request.position.append(Position.CENTER)
+        request.device = 5
+        request.type = Type.LIGHT
+        request.position.append(Position.RIGHT)
+        request.position.append(Position.FLOOR)
         # Serialize the request to a bytearray
         request_data = request.SerializeToString()