From 56e9963e9482ad105b3cb5a159d6ec5ce9c9fc8c Mon Sep 17 00:00:00 2001
From: giovannaloro <giovanni.annaloro@skywarder.eu>
Date: Fri, 28 Feb 2025 18:17:58 +0100
Subject: [PATCH] added delay between first and second packet read and
automatized tty port selecton
---
hardware_in_the_loop/HILconfig.m | 3 ++-
hardware_in_the_loop/old-serialbridge | 1 +
hardware_in_the_loop/serialbridge | 2 +-
simulator/configs/configFlags.m | 2 +-
simulator/src/std_run_parts/run_MAIN_HIL.m | 6 ++++++
5 files changed, 11 insertions(+), 3 deletions(-)
create mode 160000 hardware_in_the_loop/old-serialbridge
diff --git a/hardware_in_the_loop/HILconfig.m b/hardware_in_the_loop/HILconfig.m
index 1a3cd885..44217561 100644
--- a/hardware_in_the_loop/HILconfig.m
+++ b/hardware_in_the_loop/HILconfig.m
@@ -16,7 +16,8 @@ Release date: 10/03/2021
% Windows, e.g. "COM6"
% Linux, e.g. "/dev/ttyACM0"
% hil_settings.serial_port = "/dev/tty.usbserial-DN037JYN";
-hil_settings.serial_port_main = 'COM5';
+[~, cmdout] = system('ls /dev | grep ttyUSB | cat');
+hil_settings.serial_port_main = strcat('/dev/', strip(cmdout));
hil_settings.serial_port_payload= 'COM5';
hil_settings.serial_port_motor = 'COM5';
diff --git a/hardware_in_the_loop/old-serialbridge b/hardware_in_the_loop/old-serialbridge
new file mode 160000
index 00000000..0a3b08bf
--- /dev/null
+++ b/hardware_in_the_loop/old-serialbridge
@@ -0,0 +1 @@
+Subproject commit 0a3b08bff8640802ff1da2879120c91b5225b495
diff --git a/hardware_in_the_loop/serialbridge b/hardware_in_the_loop/serialbridge
index 0a3b08bf..5b7cf79a 160000
--- a/hardware_in_the_loop/serialbridge
+++ b/hardware_in_the_loop/serialbridge
@@ -1 +1 @@
-Subproject commit 0a3b08bff8640802ff1da2879120c91b5225b495
+Subproject commit 5b7cf79a9e0cd7e61075dc3b913ca717f7a208b4
diff --git a/simulator/configs/configFlags.m b/simulator/configs/configFlags.m
index 1dfbd305..d16ca4c9 100644
--- a/simulator/configs/configFlags.m
+++ b/simulator/configs/configFlags.m
@@ -29,7 +29,7 @@ scenarios explanation:
% scenario configuration
conf.scenario = "full flight";
settings.board = "main"; % Either "main" or "payload" or "full_hil"
-conf.HIL = false;
+conf.HIL = true;
% WIP flags
settings.machControlActive = false; % Switch on the mach control in ascentControl.m
diff --git a/simulator/src/std_run_parts/run_MAIN_HIL.m b/simulator/src/std_run_parts/run_MAIN_HIL.m
index 67a7c7cb..daf4abd4 100644
--- a/simulator/src/std_run_parts/run_MAIN_HIL.m
+++ b/simulator/src/std_run_parts/run_MAIN_HIL.m
@@ -74,11 +74,17 @@ OUTPUTS:
arrayToBeSent = single(vertcat(arrayToBeSent));
% sending sensor data over the serial port
+ % java.lang.Thread.sleep(100);
serialbridge('Write','main', arrayToBeSent);
+ if dataToBeSent.signal == 1
+ pause(10.0);
+ end
+
% waiting for the response of the obsw
% Receive data from serial comunication
obswVals = serialbridge('Read','main', 26);
+ % obswVals = zeros(26,1);
actuatorData.ada.mslAltitude = obswVals(1);
actuatorData.ada.aglAltitude = obswVals(2);
--
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