From 2ffbc9f6a8110814c36668a4ced9e8b74ff0d4bd Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Mon, 12 Sep 2022 09:45:14 +0000
Subject: [PATCH] [CAN] Fixed event for the auxiliary board
---
src/boards/Auxiliary/CanHandler/CanHandler.cpp | 2 ++
src/boards/Main/CanHandler/CanHandler.cpp | 9 +++++++++
src/boards/Main/CanHandler/CanHandler.h | 1 +
src/boards/Main/Configs/CanHandlerConfig.h | 5 +++--
.../FlightModeManager/FlightModeManager.cpp | 2 ++
src/boards/Payload/Configs/CanHandlerConfig.h | 4 ++--
.../FlightModeManager/FlightModeManager.cpp | 2 ++
src/boards/common/events/Events.h | 1 +
8 files changed, 22 insertions(+), 4 deletions(-)
diff --git a/src/boards/Auxiliary/CanHandler/CanHandler.cpp b/src/boards/Auxiliary/CanHandler/CanHandler.cpp
index 63783384f..598c720ff 100644
--- a/src/boards/Auxiliary/CanHandler/CanHandler.cpp
+++ b/src/boards/Auxiliary/CanHandler/CanHandler.cpp
@@ -104,10 +104,12 @@ void CanHandler::handleCanEvent(const CanMessage &msg)
case EventId::ARM:
{
Actuators::getInstance().ledArmed();
+ break;
}
case EventId::DISARM:
{
Actuators::getInstance().ledDisarmed();
+ break;
}
default:
diff --git a/src/boards/Main/CanHandler/CanHandler.cpp b/src/boards/Main/CanHandler/CanHandler.cpp
index 4dbe13711..080c43b78 100644
--- a/src/boards/Main/CanHandler/CanHandler.cpp
+++ b/src/boards/Main/CanHandler/CanHandler.cpp
@@ -87,6 +87,15 @@ void CanHandler::sendCamOffEvent()
static_cast<uint8_t>(EventId::CAM_OFF));
}
+void CanHandler::sendErrorEvent()
+{
+ protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
+ static_cast<uint8_t>(PrimaryType::EVENTS),
+ static_cast<uint8_t>(Board::MAIN),
+ static_cast<uint8_t>(Board::AUXILIARY),
+ static_cast<uint8_t>(EventId::ERROR));
+}
+
void CanHandler::sendLiftoffEvent()
{
protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
diff --git a/src/boards/Main/CanHandler/CanHandler.h b/src/boards/Main/CanHandler/CanHandler.h
index 447a0bcdf..8169f1e45 100644
--- a/src/boards/Main/CanHandler/CanHandler.h
+++ b/src/boards/Main/CanHandler/CanHandler.h
@@ -46,6 +46,7 @@ public:
void sendCalibrateEvent();
void sendCamOnEvent();
void sendCamOffEvent();
+ void sendErrorEvent();
void sendLiftoffEvent();
void sendApogeeEvent();
void sendLandingEvent();
diff --git a/src/boards/Main/Configs/CanHandlerConfig.h b/src/boards/Main/Configs/CanHandlerConfig.h
index 15c618408..63d13fa94 100644
--- a/src/boards/Main/Configs/CanHandlerConfig.h
+++ b/src/boards/Main/Configs/CanHandlerConfig.h
@@ -45,11 +45,12 @@ static const std::map<Common::CanConfig::EventId, Common::Events> eventToEvent{
static const std::map<Common::Events, std::function<void(CanHandler *)>>
eventToFunction{
- {Common::TMTC_ARM, &CanHandler::sendArmEvent},
- {Common::TMTC_DISARM, &CanHandler::sendDisarmEvent},
+ {Common::FLIGHT_ARMED, &CanHandler::sendArmEvent},
+ {Common::FLIGHT_DISARMED, &CanHandler::sendDisarmEvent},
{Common::TMTC_CALIBRATE, &CanHandler::sendCalibrateEvent},
{Common::TMTC_START_RECORDING, &CanHandler::sendCamOnEvent},
{Common::TMTC_STOP_RECORDING, &CanHandler::sendCamOffEvent},
+ {Common::FLIGHT_ERROR_DETECTED, &CanHandler::sendErrorEvent},
{Common::FLIGHT_LIFTOFF, &CanHandler::sendLiftoffEvent},
{Common::FLIGHT_APOGEE_DETECTED, &CanHandler::sendApogeeEvent},
{Common::FLIGHT_LANDING_DETECTED, &CanHandler::sendLandingEvent},
diff --git a/src/boards/Main/StateMachines/FlightModeManager/FlightModeManager.cpp b/src/boards/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
index c8dc26784..326f26e32 100644
--- a/src/boards/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
+++ b/src/boards/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
@@ -128,6 +128,8 @@ State FlightModeManager::state_init_error(const Event& event)
{
Actuators::getInstance().buzzerError();
logStatus(FlightModeManagerState::INIT_ERROR);
+ EventBroker::getInstance().post(FLIGHT_ERROR_DETECTED,
+ TOPIC_FLIGHT);
return HANDLED;
}
case EV_EXIT:
diff --git a/src/boards/Payload/Configs/CanHandlerConfig.h b/src/boards/Payload/Configs/CanHandlerConfig.h
index c0971d828..c5b384434 100644
--- a/src/boards/Payload/Configs/CanHandlerConfig.h
+++ b/src/boards/Payload/Configs/CanHandlerConfig.h
@@ -47,8 +47,8 @@ static const std::map<Common::CanConfig::EventId, Common::Events> eventToEvent{
static const std::map<Common::Events, std::function<void(CanHandler *)>>
eventToFunction{
- {Common::TMTC_ARM, &CanHandler::sendArmEvent},
- {Common::TMTC_DISARM, &CanHandler::sendDisarmEvent},
+ {Common::FLIGHT_ARMED, &CanHandler::sendArmEvent},
+ {Common::FLIGHT_DISARMED, &CanHandler::sendDisarmEvent},
{Common::TMTC_CALIBRATE, &CanHandler::sendCalibrateEvent},
{Common::TMTC_START_RECORDING, &CanHandler::sendCamOnEvent},
{Common::TMTC_STOP_RECORDING, &CanHandler::sendCamOffEvent},
diff --git a/src/boards/Payload/StateMachines/FlightModeManager/FlightModeManager.cpp b/src/boards/Payload/StateMachines/FlightModeManager/FlightModeManager.cpp
index 07ffd78a0..433cde9dc 100644
--- a/src/boards/Payload/StateMachines/FlightModeManager/FlightModeManager.cpp
+++ b/src/boards/Payload/StateMachines/FlightModeManager/FlightModeManager.cpp
@@ -139,6 +139,8 @@ State FlightModeManager::state_init_error(const Event& event)
{
logStatus(FlightModeManagerState::INIT_ERROR);
Actuators::getInstance().ledError();
+ EventBroker::getInstance().post(FLIGHT_ERROR_DETECTED,
+ TOPIC_FLIGHT);
return HANDLED;
}
case EV_EXIT:
diff --git a/src/boards/common/events/Events.h b/src/boards/common/events/Events.h
index 9cc614df8..297ccbdf9 100644
--- a/src/boards/common/events/Events.h
+++ b/src/boards/common/events/Events.h
@@ -57,6 +57,7 @@ enum Events : uint8_t
FLIGHT_ARMED,
FLIGHT_DISARMED,
FLIGHT_DPL_ALT_DETECTED,
+ FLIGHT_ERROR_DETECTED,
FLIGHT_LANDING_DETECTED,
FLIGHT_LAUNCH_PIN_DETACHED,
FLIGHT_LIFTOFF,
--
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