diff --git a/CMakeLists.txt b/CMakeLists.txt
index 85cd5f85a20dacfb33a6afa3b65eb42aa645eabf..ba99e25e22ee8dc2c0bc99e3bd5542f36f44d7a4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -67,10 +67,6 @@ add_executable(motor-entry src/entrypoints/Motor/motor-entry.cpp ${MOTOR_SOURCES
target_include_directories(motor-entry PRIVATE ${OBSW_INCLUDE_DIRS})
sbs_target(motor-entry stm32f767zi_lyra_motor)
-add_executable(rig-entry src/entrypoints/RIG/rig-entry.cpp ${RIG_COMPUTER})
-target_include_directories(rig-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-sbs_target(rig-entry stm32f429zi_rig)
-
add_executable(rig-v2-entry src/entrypoints/RIGv2/rig-v2-entry.cpp ${RIG_V2_COMPUTER})
target_include_directories(rig-v2-entry PRIVATE ${OBSW_INCLUDE_DIRS})
sbs_target(rig-v2-entry stm32f767zi_rig_v2)
diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
index b6666423498661d6c05fcea04ef8beb15d52a8a4..68d981a4bc7e8c00763683dc0c3614ec7ffec15d 100644
--- a/cmake/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -55,18 +55,6 @@ set(MOTOR_SOURCES
src/boards/Motor/Actuators/Actuators.cpp
src/boards/Motor/Sensors/Sensors.cpp
src/boards/Motor/CanHandler/CanHandler.cpp
-)
-
-set(RIG_COMPUTER
- src/boards/RIG/BoardScheduler.cpp
- src/boards/RIG/Sensors/Sensors.cpp
- src/boards/RIG/Actuators/Actuators.cpp
- src/boards/RIG/Radio/Radio.cpp
- src/boards/RIG/TMRepository/TMRepository.cpp
- src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp
- src/boards/RIG/StateMachines/TARS1/TARS1.cpp
- src/boards/RIG/CanHandler/CanHandler.cpp
- src/boards/RIG/StatesMonitor/StatesMonitor.cpp
)
set(RIG_V2_COMPUTER
diff --git a/src/boards/RIG/Actuators/Actuators.cpp b/src/boards/RIG/Actuators/Actuators.cpp
deleted file mode 100644
index c0f1f7223ad56abc4fe95bb3c6f07880ed524787..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Actuators/Actuators.cpp
+++ /dev/null
@@ -1,413 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#include <RIG/Actuators/Actuators.h>
-#include <RIG/Actuators/ActuatorsData.h>
-#include <RIG/CanHandler/CanHandler.h>
-#include <RIG/Configs/ActuatorsConfig.h>
-#include <common/Events.h>
-#include <common/Topics.h>
-#include <drivers/timer/TimestampTimer.h>
-#include <miosix.h>
-
-using namespace miosix;
-using namespace Boardcore;
-
-namespace RIG
-{
-Actuators::Actuators(TaskScheduler* sched) : scheduler(sched)
-{
- servo1 =
- new Servo(Config::Servos::SERVO1_TIMER, Config::Servos::SERVO1_PWM_CH,
- Config::Servos::MAX_PULSE, Config::Servos::MIN_PULSE);
- servo2 =
- new Servo(Config::Servos::SERVO2_TIMER, Config::Servos::SERVO2_PWM_CH,
- Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE);
- servo3 =
- new Servo(Config::Servos::SERVO3_TIMER, Config::Servos::SERVO3_PWM_CH,
- Config::Servos::MAX_PULSE, Config::Servos::MIN_PULSE);
- servo4 =
- new Servo(Config::Servos::SERVO4_TIMER, Config::Servos::SERVO4_PWM_CH,
- Config::Servos::MAX_PULSE, Config::Servos::MIN_PULSE);
- servo5 =
- new Servo(Config::Servos::SERVO5_TIMER, Config::Servos::SERVO5_PWM_CH,
- Config::Servos::MAX_PULSE, Config::Servos::MIN_PULSE);
-
- // Set the default openings
- openings[ServosList::FILLING_VALVE] =
- Config::Servos::DEFAULT_FILLING_MAXIMUM_APERTURE;
- openings[ServosList::MAIN_VALVE] =
- Config::Servos::DEFAULT_MAIN_MAXIMUM_APERTURE;
- openings[ServosList::RELEASE_VALVE] =
- Config::Servos::DEFAULT_RELEASE_MAXIMUM_APERTURE;
- openings[ServosList::VENTING_VALVE] =
- Config::Servos::DEFAULT_VENTING_MAXIMUM_APERTURE;
- openings[ServosList::DISCONNECT_SERVO] =
- Config::Servos::DEFAULT_DISCONNECT_MAXIMUM_APERTURE;
-
- // Set the default opening times
- openingTimes[ServosList::FILLING_VALVE] =
- Config::Servos::DEFAULT_FILLING_OPENING_TIME;
- openingTimes[ServosList::MAIN_VALVE] =
- Config::Servos::DEFAULT_MAIN_OPENING_TIME;
- openingTimes[ServosList::RELEASE_VALVE] =
- Config::Servos::DEFAULT_RELEASE_OPENING_TIME;
- openingTimes[ServosList::VENTING_VALVE] =
- Config::Servos::DEFAULT_VENTING_OPENING_TIME;
- openingTimes[ServosList::DISCONNECT_SERVO] =
- Config::Servos::DEFAULT_DISCONNECT_OPENING_TIME;
-
- // Set the opening / closing events
- openingEvents[ServosList::FILLING_VALVE] =
- Common::Events::MOTOR_OPEN_FILLING_VALVE;
- openingEvents[ServosList::MAIN_VALVE] =
- Common::Events::MOTOR_OPEN_FEED_VALVE;
- openingEvents[ServosList::RELEASE_VALVE] =
- Common::Events::MOTOR_OPEN_RELEASE_VALVE;
- openingEvents[ServosList::VENTING_VALVE] =
- Common::Events::MOTOR_OPEN_VENTING_VALVE;
- openingEvents[ServosList::DISCONNECT_SERVO] =
- Common::Events::MOTOR_DISCONNECT;
-
- closingEvents[ServosList::FILLING_VALVE] =
- Common::Events::MOTOR_CLOSE_FILLING_VALVE;
- closingEvents[ServosList::MAIN_VALVE] =
- Common::Events::MOTOR_CLOSE_FEED_VALVE;
- closingEvents[ServosList::RELEASE_VALVE] =
- Common::Events::MOTOR_CLOSE_RELEASE_VALVE;
- closingEvents[ServosList::VENTING_VALVE] =
- Common::Events::MOTOR_CLOSE_VENTING_VALVE;
-}
-
-bool Actuators::start()
-{
- servo1->enable();
- servo2->enable();
- servo3->enable();
- servo4->enable();
- servo5->enable();
-
- uint8_t result = scheduler->addTask(
- [=]() { checkTimings(); }, Config::Servos::SERVO_TIMINGS_CHECK_PERIOD);
- return result != 0;
-}
-
-bool Actuators::wiggleServo(ServosList servo)
-{
- PauseKernelLock lock;
- // Get the choosen servo and nullptr in case not present
- Servo* requestedServo = getServo(servo);
- if (requestedServo != nullptr)
- {
- // Close all the servo
- closeAllServo();
-
- // Store the previous aperture time
- uint64_t time = openingTimes[servo];
-
- // Set a new one
- openingTimes[servo] = 1000; // 1s
-
- // Toggle the servo
- toggleServo(servo);
-
- // Set the previous opening time
- openingTimes[servo] = time;
-
- return true;
- }
-
- return false;
-}
-
-Servo* Actuators::getServo(ServosList servo)
-{
- switch (servo)
- {
- case MAIN_VALVE:
- return servo4;
- case VENTING_VALVE:
- return servo5;
- case RELEASE_VALVE:
- return servo2;
- case FILLING_VALVE:
- return servo1;
- case DISCONNECT_SERVO:
- return servo3;
- default:
- return nullptr;
- }
-}
-
-float Actuators::getServoPosition(ServosList servo)
-{
- // Get the choosen servo and nullptr in case not present
- Servo* requestedServo = getServo(servo);
-
- if (requestedServo == nullptr)
- {
- return -1;
- }
-
- return requestedServo->getPosition();
-}
-
-void Actuators::setServoPosition(ServosList servo, float position)
-{
- // To lock the resources use a kernel lock
- PauseKernelLock lock;
-
- // Get the choosen servo and nullptr in case not present
- Servo* requestedServo = getServo(servo);
-
- if (!(requestedServo == nullptr))
- {
- requestedServo->setPosition(position);
-
- // Log the position
- ActuatorsData data;
- data.timestamp = TimestampTimer::getTimestamp();
- data.servoId = servo;
- data.position = position;
- Logger::getInstance().log(data);
- }
-}
-
-void Actuators::checkTimings()
-{
- uint64_t currentTick = Kernel::getOldTick();
-
- // Enter in protected zone where the timings should be checked and changed
- // and the servo should be positioned atomically over all the threads. A
- // kernel lock is adopted only due to it's performance but a mutex could be
- // easily adopted.
- {
- PauseKernelLock lock;
-
- for (uint8_t i = 0; i < ServosList::ServosList_ENUM_END; i++)
- {
- if (timings[i] > currentTick)
- {
- if (currentTick >
- setFlag[i] + Config::Servos::SERVO_CONFIDENCE_TIME)
- {
- setServoPosition(
- static_cast<ServosList>(i),
- openings[i] -
- openings[i] *
- Config::Servos::
- SERVO_CONFIDENCE); // 2% less than the
- // actual aperture
- }
- else
- {
- // Open the corresponding valve wrt the maximum opening
- setServoPosition(static_cast<ServosList>(i), openings[i]);
- }
- }
- else
- {
- if (timings[i] != 0)
- {
- timings[i] = 0;
- setFlag[i] = currentTick;
-
- {
- RestartKernelLock l(lock);
-
- // Publish the closing event
- EventBroker::getInstance().post(
- closingEvents[i], Common::Topics::TOPIC_MOTOR);
- }
- }
- if (currentTick >
- setFlag[i] + Config::Servos::SERVO_CONFIDENCE_TIME)
- {
- setServoPosition(
- static_cast<ServosList>(i),
- openings[i] *
- Config::Servos::SERVO_CONFIDENCE); // 2% open
- }
- else
- {
- setServoPosition(static_cast<ServosList>(i), 0);
- }
- }
- }
- }
-}
-
-void Actuators::toggleServo(ServosList servo)
-{
- PauseKernelLock lock;
-
- if (getServo(servo) != nullptr)
- {
- // If the valve is already open
- if (timings[servo] > 0)
- {
- timings[servo] = 0;
- setFlag[servo] = Kernel::getOldTick();
-
- {
- RestartKernelLock l(lock);
-
- // Publish the closing event
- EventBroker::getInstance().post(closingEvents[servo],
- Common::Topics::TOPIC_MOTOR);
-
- // Publish the command also into the CAN bus
- ModuleManager::getInstance()
- .get<CanHandler>()
- ->sendCanServoCommand(servo, 0, 0);
- }
- }
- else
- {
- timings[servo] = Kernel::getOldTick() + openingTimes[servo];
- setFlag[servo] = Kernel::getOldTick();
-
- {
- RestartKernelLock l(lock);
-
- // Publish the opening event
- EventBroker::getInstance().post(openingEvents[servo],
- Common::Topics::TOPIC_MOTOR);
-
- // Publish the command also into the CAN bus
- ModuleManager::getInstance()
- .get<CanHandler>()
- ->sendCanServoCommand(servo, 1, openingTimes[servo]);
- }
- }
- }
-}
-
-void Actuators::openServoAtomic(ServosList servo, uint32_t time)
-{
- PauseKernelLock lock;
-
- if (getServo(servo) != nullptr)
- {
- // If the valve is already open
- if (timings[servo] > 0)
- {
- timings[servo] = 0;
- setFlag[servo] = Kernel::getOldTick();
-
- {
- RestartKernelLock l(lock);
-
- // Publish the closing event
- EventBroker::getInstance().post(closingEvents[servo],
- Common::Topics::TOPIC_MOTOR);
-
- // Publish the command also into the CAN bus
- ModuleManager::getInstance()
- .get<CanHandler>()
- ->sendCanServoCommand(servo, 0, 0);
- }
- }
- else
- {
- timings[servo] = Kernel::getOldTick() + time;
- setFlag[servo] = Kernel::getOldTick();
-
- {
- RestartKernelLock l(lock);
-
- // Publish the opening event
- EventBroker::getInstance().post(openingEvents[servo],
- Common::Topics::TOPIC_MOTOR);
-
- // Publish the command also into the CAN bus
- ModuleManager::getInstance()
- .get<CanHandler>()
- ->sendCanServoCommand(servo, 1, time);
- }
- }
- }
-}
-
-void Actuators::closeAllServo()
-{
- PauseKernelLock lock;
-
- for (uint8_t i = 0; i < ServosList::ServosList_ENUM_END; i++)
- {
- // Once the disconnect servo is open it shall never close
- if (timings[i] != 0 && i != ServosList::DISCONNECT_SERVO)
- {
- // Make the timings expire
- timings[i] = 0;
- setFlag[i] = Kernel::getOldTick();
-
- // Publish the command also into the CAN bus
- ModuleManager::getInstance().get<CanHandler>()->sendCanServoCommand(
- static_cast<ServosList>(i), 0, 0);
- }
- }
-}
-
-void Actuators::setMaximumAperture(ServosList servo, float aperture)
-{
- PauseKernelLock lock;
-
- // Check if the servo exists
- if (getServo(servo) != nullptr)
- {
- // Check aperture
- if (aperture < 0)
- {
- aperture = 0;
- }
- else if (aperture > 1)
- {
- aperture = 1;
- }
-
- openings[servo] = aperture;
- }
-}
-
-void Actuators::setTiming(ServosList servo, uint32_t time)
-{
- PauseKernelLock lock;
-
- // Check if the servo exists
- if (getServo(servo) != nullptr)
- {
- openingTimes[servo] = time;
- }
-}
-
-uint32_t Actuators::getTiming(ServosList servo)
-{
- PauseKernelLock lock;
-
- if (getServo(servo) != nullptr)
- {
- return openingTimes[servo];
- }
- return 0;
-}
-
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Actuators/Actuators.h b/src/boards/RIG/Actuators/Actuators.h
deleted file mode 100644
index 3d941ddd88bce4707cd7dad7eccf9fd9dbc5635c..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Actuators/Actuators.h
+++ /dev/null
@@ -1,158 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#pragma once
-
-#include <actuators/Servo/Servo.h>
-#include <common/Events.h>
-#include <common/MavlinkGemini.h>
-#include <events/EventBroker.h>
-#include <scheduler/TaskScheduler.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace RIG
-{
-class Actuators : public Boardcore::Module
-{
-public:
- /**
- * @brief Construct a new Actuators object
- *
- * @param sched The scheduler to respect the atomic timings in case of TARS0
- * engaged
- */
- Actuators(Boardcore::TaskScheduler* sched);
-
- /**
- * @brief Enables all the servos PWMs and adds to the scheduler a periodic
- * method to check whether the single servos time expired
- */
- [[nodiscard]] bool start();
-
- /**
- * @brief Wiggles the requested servo for 1 second
- *
- * @param servo The Mavlink requested servo
- * @returns False if the servo does not appear in the list
- */
- bool wiggleServo(ServosList servo);
-
- /**
- * @brief Get the specified Servo's Position
- *
- * @param servo The Mavlink requested servo
- * @return float The servo position in normalized notation [0-1]
- */
- float getServoPosition(ServosList servo);
-
- /**
- * @brief Toggles the servo valve passed via parameter. It sets the timings
- * such that the valve opens for a certain amount of time, otherwise, if the
- * valve is already open it closes it.
- *
- * @param servo The servo valve to toggle
- */
- void toggleServo(ServosList servo);
-
- /**
- * @brief Opens the servo valve passed via parameter for a certain amount of
- * time. If the valve is already open it closes it.
- *
- * @param servo The servo valve to open
- * @param time The time in [ms]
- */
- void openServoAtomic(ServosList servo, uint32_t time);
-
- /**
- * @brief Closes all the servo valves
- */
- void closeAllServo();
-
- /**
- * @brief Sets a servo maximum aperture in normalized form. [0,1]
- *
- * @param servo The servo to which set the aperture
- * @param aperture The aperture in [0,1]
- */
- void setMaximumAperture(ServosList servo, float aperture);
-
- /**
- * @brief Set the timing of a certain valve.
- * @note THE TIMING IS IN [ms]
- *
- * @param servo The servo to which set the timing
- * @param time The timing in [ms]
- */
- void setTiming(ServosList servo, uint32_t time);
-
- /**
- * @brief Get the Timing of the passed servo
- *
- * @param servo The servo whose timing is needed
- * @return uint32_t The timing in [ms]
- */
- uint32_t getTiming(ServosList servo);
-
-private:
- /**
- * @brief Set the Servo's position to the parameter one
- *
- * @param servo The servo to move
- * @param position A normalized position [0, 1]
- */
- void setServoPosition(ServosList servo, float position);
-
- Boardcore::Servo* getServo(ServosList servo);
-
- /**
- * @brief Checks that the atomic timings for the servos didn't expire and
- * sets the positioning according to them.
- * @note Utilizes also the variable setFlag to understand when the position
- * was set the last time. If greater than CONSTANT seconds ago, the function
- * sets a little offset to the servo to avoid power angriness.
- */
- void checkTimings();
-
- // Create the list of timings for every servo
- uint64_t timings[ServosList::ServosList_ENUM_END] = {0}; // [ms]
-
- // This set of flags helps the controller to know when the servo have been
- // set, in order to change slightly their angle after CONSTANT time, to
- // avoid over consumption
- uint64_t setFlag[ServosList::ServosList_ENUM_END] = {0}; // [ms]
- float openings[ServosList::ServosList_ENUM_END] = {1};
- uint64_t openingTimes[ServosList::ServosList_ENUM_END] = {
- 100000}; // Default 100s [ms]
-
- // This set represents the events to throw at opening/closing of valves
- uint8_t openingEvents[ServosList::ServosList_ENUM_END] = {0};
- uint8_t closingEvents[ServosList::ServosList_ENUM_END] = {0};
-
- Boardcore::TaskScheduler* scheduler = nullptr;
-
- Boardcore::Servo* servo1;
- Boardcore::Servo* servo2;
- Boardcore::Servo* servo3;
- Boardcore::Servo* servo4;
- Boardcore::Servo* servo5;
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Actuators/ActuatorsData.h b/src/boards/RIG/Actuators/ActuatorsData.h
deleted file mode 100644
index a233b16336e9356cecdfca9660462869414b268c..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Actuators/ActuatorsData.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <stdint.h>
-
-#include <ostream>
-
-namespace RIG
-{
-struct ActuatorsData
-{
- uint64_t timestamp;
- uint8_t servoId;
- float position;
-
- ActuatorsData()
- {
- timestamp = 0;
- servoId = 0;
- position = 0;
- }
-
- ActuatorsData(uint64_t time, uint8_t servo, float pos)
- : timestamp(time), servoId(servo), position(pos)
- {
- }
-
- static std::string header() { return "timestamp,servoId,position\n"; }
-
- void print(std::ostream& os) const
- {
- os << timestamp << "," << (int)servoId << "," << position << "\n";
- }
-};
-
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/BoardScheduler.cpp b/src/boards/RIG/BoardScheduler.cpp
deleted file mode 100644
index 8f8eff0cd7d8a403db8603b003260f917d71ff91..0000000000000000000000000000000000000000
--- a/src/boards/RIG/BoardScheduler.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "BoardScheduler.h"
-
-using namespace Boardcore;
-
-namespace RIG
-{
-BoardScheduler::BoardScheduler()
-{
- scheduler1 = new TaskScheduler(miosix::PRIORITY_MAX - 4);
- scheduler2 = new TaskScheduler(miosix::PRIORITY_MAX - 3);
- scheduler3 = new TaskScheduler(miosix::PRIORITY_MAX - 2);
- scheduler4 = new TaskScheduler(miosix::PRIORITY_MAX - 1);
-}
-
-TaskScheduler* BoardScheduler::getScheduler(miosix::Priority priority)
-{
- switch (priority.get())
- {
- case miosix::PRIORITY_MAX:
- return scheduler4;
- case miosix::PRIORITY_MAX - 1:
- return scheduler3;
- case miosix::PRIORITY_MAX - 2:
- return scheduler2;
- case miosix::MAIN_PRIORITY:
- return scheduler1;
- default:
- return scheduler1;
- }
-}
-
-bool BoardScheduler::start()
-{
- return scheduler1->start() && scheduler2->start() && scheduler3->start() &&
- scheduler4->start();
-}
-
-bool BoardScheduler::isStarted()
-{
- return scheduler1->isRunning() && scheduler2->isRunning() &&
- scheduler3->isRunning() && scheduler4->isRunning();
-}
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/BoardScheduler.h b/src/boards/RIG/BoardScheduler.h
deleted file mode 100644
index f2d878112be17a233b7c6a1ab83bf255f95b5591..0000000000000000000000000000000000000000
--- a/src/boards/RIG/BoardScheduler.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#pragma once
-
-#include <scheduler/TaskScheduler.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace RIG
-{
-/**
- * @brief Class that wraps the 4 main task schedulers of the entire OBSW.
- * There is a task scheduler for every miosix priority
- */
-class BoardScheduler : public Boardcore::Module
-{
-public:
- BoardScheduler();
-
- /**
- * @brief Get the Scheduler object relative to the requested priority
- *
- * @param priority The task scheduler priority
- * @return Boardcore::TaskScheduler& Reference to the requested task
- * scheduler.
- * @note Min priority scheduler is returned in case of non valid priority.
- */
- Boardcore::TaskScheduler* getScheduler(miosix::Priority priority);
-
- [[nodiscard]] bool start();
-
- /**
- * @brief Returns if all the schedulers are up and running
- */
- bool isStarted();
-
-private:
- Boardcore::TaskScheduler* scheduler1;
- Boardcore::TaskScheduler* scheduler2;
- Boardcore::TaskScheduler* scheduler3;
- Boardcore::TaskScheduler* scheduler4;
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Buses.h b/src/boards/RIG/Buses.h
deleted file mode 100644
index 27a4fd08616256dc28ebfad401f39cd44d365b52..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Buses.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#pragma once
-
-#include <drivers/spi/SPIBus.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace RIG
-{
-class Buses : public Boardcore::Module
-{
-public:
- Boardcore::SPIBus spi1;
- Boardcore::SPIBus spi2;
- Boardcore::SPIBus spi3;
- Boardcore::SPIBus spi4;
- Boardcore::SPIBus spi5;
- Boardcore::SPIBus spi6;
-
- Buses()
- : spi1(SPI1), spi2(SPI2), spi3(SPI3), spi4(SPI4), spi5(SPI5), spi6(SPI6)
- {
- }
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/CanHandler/CanHandler.cpp b/src/boards/RIG/CanHandler/CanHandler.cpp
deleted file mode 100644
index 927fd6c1f7432af38e1bb6e922bccca7fdab5909..0000000000000000000000000000000000000000
--- a/src/boards/RIG/CanHandler/CanHandler.cpp
+++ /dev/null
@@ -1,315 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Federico Mandelli, Alberto Nidasio, Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "CanHandler.h"
-
-#include <RIG/BoardScheduler.h>
-#include <RIG/Buses.h>
-#include <RIG/CanHandler/CanHandlerData.h>
-#include <RIG/Configs/CanHandlerConfig.h>
-#include <RIG/Sensors/Sensors.h>
-#include <RIG/StateMachines/GroundModeManager/GroundModeManager.h>
-#include <RIG/StatesMonitor/StatesMonitor.h>
-#include <common/CanConfig.h>
-#include <common/Events.h>
-#include <drivers/timer/TimestampTimer.h>
-#include <events/EventBroker.h>
-
-#include <functional>
-
-using namespace std;
-using namespace placeholders;
-using namespace Boardcore;
-using namespace Canbus;
-using namespace Common;
-using namespace CanConfig;
-using namespace RIG::CanHandlerConfig;
-
-namespace RIG
-{
-CanHandler::CanHandler(TaskScheduler *sched) : scheduler(sched)
-{
- // Configure the CAN driver
- CanbusDriver::AutoBitTiming bitTiming;
- bitTiming.baudRate = BAUD_RATE;
- bitTiming.samplePoint = SAMPLE_POINT;
-
- CanbusDriver::CanbusConfig config;
-
- // NOTE configure the peripheral CAN1 due to shared configs
- driver = new CanbusDriver(CAN1, config, bitTiming);
-
- // Create the protocol with the defined driver
- protocol =
- new CanProtocol(driver, bind(&CanHandler::handleCanMessage, this, _1),
- miosix::PRIORITY_MAX - 1);
-
- // Accept messages only from the main and RIG board
- protocol->addFilter(static_cast<uint8_t>(Board::MAIN),
- static_cast<uint8_t>(Board::BROADCAST));
- protocol->addFilter(static_cast<uint8_t>(Board::MOTOR),
- static_cast<uint8_t>(Board::BROADCAST));
- protocol->addFilter(static_cast<uint8_t>(Board::PAYLOAD),
- static_cast<uint8_t>(Board::BROADCAST));
- driver->init();
-}
-
-bool CanHandler::start()
-{
- // 0 if fail
- uint8_t result = scheduler->addTask( // status
- [&]()
- {
- GroundModeManagerState state = ModuleManager::getInstance()
- .get<GroundModeManager>()
- ->getStatus()
- .state;
- protocol->enqueueSimplePacket(
- static_cast<uint8_t>(Priority::MEDIUM),
- static_cast<uint8_t>(PrimaryType::STATUS),
- static_cast<uint8_t>(Board::RIG),
- static_cast<uint8_t>(Board::BROADCAST),
- static_cast<uint8_t>(state),
- (state == GroundModeManagerState::ARMED) ? 0x01 : 0x00);
- },
- STATUS_TRANSMISSION_PERIOD);
- // TODO look at the priorities of the CAN protocol threads
- return protocol->start() && result != 0;
-}
-
-bool CanHandler::isStarted()
-{
- return protocol->isStarted() && scheduler->isRunning();
-}
-
-void CanHandler::sendEvent(EventId event)
-{
- protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
- static_cast<uint8_t>(PrimaryType::EVENTS),
- static_cast<uint8_t>(Board::RIG),
- static_cast<uint8_t>(Board::BROADCAST),
- static_cast<uint8_t>(event));
-}
-
-void CanHandler::sendCanServoCommand(ServosList servo, bool targetState,
- uint32_t delay)
-{
- uint64_t payload = delay;
- payload = payload << 8;
- payload = payload | targetState;
- protocol->enqueueSimplePacket(static_cast<uint8_t>(Priority::CRITICAL),
- static_cast<uint8_t>(PrimaryType::COMMAND),
- static_cast<uint8_t>(Board::RIG),
- static_cast<uint8_t>(Board::BROADCAST),
- static_cast<uint8_t>(servo), payload);
-}
-
-void CanHandler::handleCanMessage(const CanMessage &msg)
-{
- PrimaryType msgType = static_cast<PrimaryType>(msg.getPrimaryType());
-
- // Depending on the received message, call the handling method
- switch (msgType)
- {
- case PrimaryType::EVENTS:
- {
- handleCanEvent(msg);
- break;
- }
- case PrimaryType::SENSORS:
- {
- handleCanSensor(msg);
- break;
- }
- case PrimaryType::STATUS:
- {
- handleCanStatus(msg);
- break;
- }
- default:
- {
- LOG_WARN(logger, "Received unsupported message type: type={}",
- msgType);
- break;
- }
- }
-}
-
-void CanHandler::handleCanEvent(const CanMessage &msg)
-{
- EventId eventId = static_cast<EventId>(msg.getSecondaryType());
- auto it = eventToEvent.find(eventId);
-
- // Check if the event is valid
- if (it != eventToEvent.end())
- {
- EventBroker::getInstance().post(it->second, TOPIC_CAN);
- }
- else
- {
- LOG_WARN(logger, "Received unsupported event: id={}", eventId);
- }
-}
-
-void CanHandler::handleCanSensor(const CanMessage &msg)
-{
- SensorId sensorId = static_cast<SensorId>(msg.getSecondaryType());
- ModuleManager &modules = ModuleManager::getInstance();
-
- // Depending on the sensor call the corresponding setter on the Sensors
- // module
- switch (sensorId)
- {
- case SensorId::CC_PRESSURE:
- {
- PressureData data = pressureDataFromCanMessage(msg);
- modules.get<Sensors>()->setCCPressure(data);
-
- // Log the data
- CanPressureSensor log;
- log.timestamp = TimestampTimer::getTimestamp();
- log.pressure = data.pressure;
- log.sensorId = static_cast<uint8_t>(SensorId::CC_PRESSURE);
- Logger::getInstance().log(log);
-
- break;
- }
- case SensorId::BOTTOM_TANK_PRESSURE:
- {
- PressureData data = pressureDataFromCanMessage(msg);
- modules.get<Sensors>()->setBottomTankPressure(data);
-
- // Log the data
- CanPressureSensor log;
- log.timestamp = TimestampTimer::getTimestamp();
- log.pressure = data.pressure;
- log.sensorId = static_cast<uint8_t>(SensorId::BOTTOM_TANK_PRESSURE);
- Logger::getInstance().log(log);
-
- break;
- }
- case SensorId::TOP_TANK_PRESSURE:
- {
- PressureData data = pressureDataFromCanMessage(msg);
- modules.get<Sensors>()->setTopTankPressure(data);
-
- // Log the data
- CanPressureSensor log;
- log.timestamp = TimestampTimer::getTimestamp();
- log.pressure = data.pressure;
- log.sensorId = static_cast<uint8_t>(SensorId::TOP_TANK_PRESSURE);
- Logger::getInstance().log(log);
-
- break;
- }
- case SensorId::TANK_TEMPERATURE:
- {
- TemperatureData data = temperatureDataFromCanMessage(msg);
- modules.get<Sensors>()->setTankTemperature(data);
-
- // Log the data
- CanTemperatureSensor log;
- log.timestamp = TimestampTimer::getTimestamp();
- log.temperature = data.temperature;
- log.sensorId = static_cast<uint8_t>(SensorId::TANK_TEMPERATURE);
-
- break;
- }
- case SensorId::MOTOR_ACTUATORS_CURRENT:
- {
- CurrentData data = currentDataFromCanMessage(msg);
- modules.get<Sensors>()->setMotorCurrent(data);
-
- // Log the data
- CanCurrentSensor log;
- log.timestamp = TimestampTimer::getTimestamp();
- log.sensorId =
- static_cast<uint8_t>(SensorId::MOTOR_ACTUATORS_CURRENT);
- log.current = data.current;
- Logger::getInstance().log(log);
-
- break;
- }
- case SensorId::MAIN_BOARD_CURRENT:
- {
- CurrentData data = currentDataFromCanMessage(msg);
- modules.get<Sensors>()->setMainCurrent(data);
-
- // Log the data
- CanCurrentSensor log;
- log.timestamp = TimestampTimer::getTimestamp();
- log.sensorId = static_cast<uint8_t>(SensorId::MAIN_BOARD_CURRENT);
- log.current = data.current;
- Logger::getInstance().log(log);
-
- break;
- }
- case SensorId::PAYLOAD_BOARD_CURRENT:
- {
- CurrentData data = currentDataFromCanMessage(msg);
- modules.get<Sensors>()->setPayloadCurrent(data);
-
- // Log the data
- CanCurrentSensor log;
- log.timestamp = TimestampTimer::getTimestamp();
- log.sensorId =
- static_cast<uint8_t>(SensorId::PAYLOAD_BOARD_CURRENT);
- log.current = data.current;
- Logger::getInstance().log(log);
-
- break;
- }
- case SensorId::MOTOR_BOARD_VOLTAGE:
- {
- BatteryVoltageSensorData data =
- batteryVoltageDataFromCanMessage(msg);
- modules.get<Sensors>()->setMotorVoltage(data);
-
- // Log the data
- CanVoltageSensor log;
- log.timestamp = TimestampTimer::getTimestamp();
- log.sensorId = static_cast<uint8_t>(SensorId::MOTOR_BOARD_VOLTAGE);
- log.voltage = data.batVoltage;
- Logger::getInstance().log(log);
-
- break;
- }
- default:
- {
- LOG_WARN(logger, "Received unsupported sensor data: id={}",
- sensorId);
- }
- }
-}
-
-void CanHandler::handleCanStatus(const CanMessage &msg)
-{
- Board source = static_cast<Board>(msg.getSource());
- // uint8_t status = msg.getSecondaryType();
- bool armed = msg.payload[0];
-
- // Set the state inside the monitor
- ModuleManager::getInstance().get<StatesMonitor>()->setBoardStatus(
- source, armed ? 2 : 1);
-}
-
-} // namespace RIG
diff --git a/src/boards/RIG/CanHandler/CanHandler.h b/src/boards/RIG/CanHandler/CanHandler.h
deleted file mode 100644
index c11a3ac232a830085211a93fc0e0a98b2e370d48..0000000000000000000000000000000000000000
--- a/src/boards/RIG/CanHandler/CanHandler.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Federico Mandelli, Alberto Nidasio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <RIG/BoardScheduler.h>
-#include <common/CanConfig.h>
-#include <common/MavlinkGemini.h>
-#include <drivers/canbus/CanProtocol/CanProtocol.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace RIG
-{
-
-class CanHandler : public Boardcore::Module
-{
-
-public:
- explicit CanHandler(Boardcore::TaskScheduler *sched);
-
- /**
- * @brief Adds the periodic task to the scheduler and starts the protocol
- * threads
- */
- bool start();
-
- /**
- * @brief Returns true if the protocol threads are started and the scheduler
- * is running
- */
- bool isStarted();
-
- /**
- * @brief Sends a CAN event on the bus
- */
- void sendEvent(Common::CanConfig::EventId event);
-
- /**
- * @brief Sends a can command (servo actuation command) specifying the
- * target servo, the target state and eventually the delta [ms] in which the
- * servo remains open
- */
- void sendCanServoCommand(ServosList servo, bool targetState,
- uint32_t delay);
-
-private:
- /**
- * @brief Handles a generic CAN message and dispatch the message to the
- * correct handler
- */
- void handleCanMessage(const Boardcore::Canbus::CanMessage &msg);
-
- // CAN message handlers
- void handleCanEvent(const Boardcore::Canbus::CanMessage &msg);
- void handleCanSensor(const Boardcore::Canbus::CanMessage &msg);
- void handleCanStatus(const Boardcore::Canbus::CanMessage &msg);
-
- // CAN interfaces
- Boardcore::Canbus::CanbusDriver *driver;
- Boardcore::Canbus::CanProtocol *protocol;
-
- Boardcore::TaskScheduler *scheduler;
- Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("canhandler");
-};
-
-} // namespace RIG
diff --git a/src/boards/RIG/CanHandler/CanHandlerData.h b/src/boards/RIG/CanHandler/CanHandlerData.h
deleted file mode 100644
index be4ab08bda9c6216467762ef3d8524ee9f57a78d..0000000000000000000000000000000000000000
--- a/src/boards/RIG/CanHandler/CanHandlerData.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <stdint.h>
-
-#include <iostream>
-#include <string>
-
-namespace RIG
-{
-// This class defines all the types received from the CAN bus
-struct CanPressureSensor
-{
- uint64_t timestamp = 0;
- uint8_t sensorId = 0;
- float pressure = 0;
-
- static std::string header() { return "timestamp,sensorId,pressure"; }
-
- void print(std::ostream& os) const
- {
- os << timestamp << "," << (int)sensorId << "," << pressure << "\n";
- }
-};
-
-struct CanTemperatureSensor
-{
- uint64_t timestamp = 0;
- uint8_t sensorId = 0;
- float temperature = 0;
-
- static std::string header() { return "timestamp,sensorId,temperature"; }
-
- void print(std::ostream& os) const
- {
- os << timestamp << "," << (int)sensorId << "," << temperature << "\n";
- }
-};
-
-struct CanCurrentSensor
-{
- uint64_t timestamp = 0;
- uint8_t sensorId = 0;
- uint8_t boardId = 0;
- float current = 0;
-
- static std::string header() { return "timestamp,sensorId,boardId,current"; }
-
- void print(std::ostream& os) const
- {
- os << timestamp << "," << (int)sensorId << "," << (int)boardId << ","
- << current << "\n";
- }
-};
-
-struct CanVoltageSensor
-{
- uint64_t timestamp = 0;
- uint8_t sensorId = 0;
- uint8_t boardId = 0;
- float voltage = 0;
-
- static std::string header() { return "timestamp,sensorId,boardId,voltage"; }
-
- void print(std::ostream& os) const
- {
- os << timestamp << "," << (int)sensorId << "," << (int)boardId << ","
- << voltage << "\n";
- }
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Configs/ActuatorsConfig.h b/src/boards/RIG/Configs/ActuatorsConfig.h
deleted file mode 100644
index 56f0feb856ebf4a8f0c584fccf1298747b7a146c..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Configs/ActuatorsConfig.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#pragma once
-#include <drivers/timer/PWM.h>
-#include <drivers/timer/TimerUtils.h>
-
-namespace RIG
-{
-namespace Config
-{
-namespace Servos
-{
-static TIM_TypeDef* const SERVO1_TIMER = TIM4;
-static TIM_TypeDef* const SERVO2_TIMER = TIM11;
-static TIM_TypeDef* const SERVO3_TIMER = TIM3;
-static TIM_TypeDef* const SERVO4_TIMER = TIM10;
-static TIM_TypeDef* const SERVO5_TIMER = TIM8;
-
-constexpr Boardcore::TimerUtils::Channel SERVO1_PWM_CH =
- Boardcore::TimerUtils::Channel::CHANNEL_2;
-constexpr Boardcore::TimerUtils::Channel SERVO2_PWM_CH =
- Boardcore::TimerUtils::Channel::CHANNEL_1;
-constexpr Boardcore::TimerUtils::Channel SERVO3_PWM_CH =
- Boardcore::TimerUtils::Channel::CHANNEL_1;
-constexpr Boardcore::TimerUtils::Channel SERVO4_PWM_CH =
- Boardcore::TimerUtils::Channel::CHANNEL_1;
-constexpr Boardcore::TimerUtils::Channel SERVO5_PWM_CH =
- Boardcore::TimerUtils::Channel::CHANNEL_1;
-
-constexpr uint16_t MIN_PULSE = 500;
-constexpr uint16_t MAX_PULSE = 2500;
-
-constexpr uint16_t SERVO_TIMINGS_CHECK_PERIOD = 100;
-constexpr uint16_t SERVO_CONFIDENCE_TIME = 500; // 0.5s
-constexpr float SERVO_CONFIDENCE = 1 / 50.0; // 2%
-
-constexpr uint32_t DEFAULT_FILLING_OPENING_TIME = 15000; // 15s
-constexpr uint32_t DEFAULT_VENTING_OPENING_TIME = 15000; // 15s
-constexpr uint32_t DEFAULT_MAIN_OPENING_TIME = 6000; // 6s
-constexpr uint32_t DEFAULT_RELEASE_OPENING_TIME = 10000; // 10s
-constexpr uint32_t DEFAULT_DISCONNECT_OPENING_TIME = 10000; // 10s
-
-constexpr float DEFAULT_FILLING_MAXIMUM_APERTURE = 1.00f;
-constexpr float DEFAULT_VENTING_MAXIMUM_APERTURE = 0.80f;
-constexpr float DEFAULT_MAIN_MAXIMUM_APERTURE = 0.87f;
-constexpr float DEFAULT_RELEASE_MAXIMUM_APERTURE = 1.0f;
-constexpr float DEFAULT_DISCONNECT_MAXIMUM_APERTURE = 0.110f;
-} // namespace Servos
-} // namespace Config
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Configs/CanHandlerConfig.h b/src/boards/RIG/Configs/CanHandlerConfig.h
deleted file mode 100644
index bf32a6a5f94142f082b48348b2263803c359ee7e..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Configs/CanHandlerConfig.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Author: Alberto Nidasio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <common/Events.h>
-
-namespace RIG
-{
-
-namespace CanHandlerConfig
-{
-
-constexpr unsigned int PITOT_TRANSMISSION_PERIOD = 20; // ms
-constexpr unsigned int STATUS_TRANSMISSION_PERIOD = 2000; // ms
-
-} // namespace CanHandlerConfig
-
-} // namespace RIG
diff --git a/src/boards/RIG/Configs/GroundModeManagerConfig.h b/src/boards/RIG/Configs/GroundModeManagerConfig.h
deleted file mode 100644
index c7e69b7a3c568b9c0904db3e9974052666848983..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Configs/GroundModeManagerConfig.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#pragma once
-
-#include <stdint.h>
-
-namespace RIG
-{
-namespace Config
-{
-namespace Ignition
-{
-constexpr uint32_t DEFAULT_IGNITION_WAITING_TIME = 5451; // ms
-
-constexpr uint32_t DEAD_TIME_AFTER_BURN = 900; // ms
-constexpr uint32_t NUMBER_NITROGEN_BUMPS = 15;
-constexpr uint32_t NITROGEN_OPENING_TIME = 2700; // ms
-
-} // namespace Ignition
-} // namespace Config
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Configs/RadioConfig.h b/src/boards/RIG/Configs/RadioConfig.h
deleted file mode 100644
index f143eea9e3959745c8d14ca1f77f7604b17d640a..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Configs/RadioConfig.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#pragma once
-
-#include <common/MavlinkGemini.h>
-#include <stdint.h>
-
-namespace RIG
-{
-namespace Config
-{
-namespace Radio
-{
-// Mavlink driver template parameters
-constexpr uint32_t RADIO_PKT_LENGTH = 255;
-constexpr uint32_t RADIO_OUT_QUEUE_SIZE = 20;
-constexpr uint32_t RADIO_MAV_MSG_LENGTH = MAVLINK_MAX_DIALECT_PAYLOAD_SIZE;
-
-// Mavlink driver parameters
-constexpr uint16_t MAV_SLEEP_AFTER_SEND = 0;
-constexpr uint16_t MAV_OUT_BUFFER_MAX_AGE = 10;
-
-// Mavlink ids
-constexpr uint8_t MAV_SYSTEM_ID = 171;
-constexpr uint8_t MAV_COMPONENT_ID = 96;
-
-// Circular buffer size (number of maximum messages that the RIG can answer
-// after a ping message from conRIG)
-constexpr uint8_t RADIO_CIRCULAR_BUFFER_SIZE = 6;
-
-// Threshold to consider a new command correct and not a false trigger.
-// Expressed in [ms]
-constexpr long long int RADIO_LAST_COMMAND_THRESHOLD = 1000;
-
-} // namespace Radio
-} // namespace Config
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Configs/RefuelingConfig.h b/src/boards/RIG/Configs/RefuelingConfig.h
deleted file mode 100644
index 7ab25b2ae9cac31a41a2df42e6a3ef8fa9f30c0f..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Configs/RefuelingConfig.h
+++ /dev/null
@@ -1,35 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#pragma once
-
-#include <stdint.h>
-
-namespace RIG
-{
-namespace Config
-{
-namespace Refueling
-{
-
-} // namespace Refueling
-} // namespace Config
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Configs/SensorsConfig.h b/src/boards/RIG/Configs/SensorsConfig.h
deleted file mode 100644
index be5a3907b89a7f7b5070606d1719578fbeba0854..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Configs/SensorsConfig.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#pragma once
-#include <stdint.h>
-
-namespace RIG
-{
-namespace Config
-{
-namespace Sensors
-{
-constexpr uint16_t ADC_SAMPLE_PERIOD = 10;
-constexpr uint16_t LOAD_CELL_SAMPLE_PERIOD = 13;
-constexpr uint16_t THERMOCOUPLE_SAMPLE_PERIOD = 100;
-
-constexpr float ADC1_CH1_SHUNT_RESISTANCE = 7.3;
-constexpr float ADC1_CH2_SHUNT_RESISTANCE = 7.3;
-constexpr float ADC1_CH3_SHUNT_RESISTANCE = 7.3;
-constexpr float ADC1_CH4_SHUNT_RESISTANCE = 7.3;
-
-constexpr float ADC2_CH1_SHUNT_RESISTANCE = 7.3;
-
-constexpr float FILLING_MAX_PRESSURE = 100; // bar
-constexpr float TANK_TOP_MAX_PRESSURE = 100; // bar
-constexpr float TANK_BOTTOM_MAX_PRESSURE = 100; // bar
-constexpr float VESSEL_MAX_PRESSURE = 400; // bar
-
-constexpr float SENSOR_MIN_CURRENT = 4; // mA
-constexpr float SENSOR_MAX_CURRENT = 20; // mA
-
-constexpr float LOAD_CELL2_OFFSET = -71250;
-constexpr float LOAD_CELL1_OFFSET = -93539.8f;
-
-constexpr float LOAD_CELL2_SCALE = 6.884422e-6f;
-constexpr float LOAD_CELL1_SCALE = -2.251307e-5f;
-
-constexpr float VOLTAGE_CONVERSION_FACTOR = 13.58f;
-constexpr float CURRENT_CONVERSION_FACTOR = 13.645f;
-constexpr float VOLTAGE_CURRENT_CONVERSION_FACTOR = 0.020f; // 40 mV/A
-} // namespace Sensors
-} // namespace Config
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Configs/StatesMonitorConfig.h b/src/boards/RIG/Configs/StatesMonitorConfig.h
deleted file mode 100644
index 37d3eeefec522bb5c1c2e3f61b9bd2b489d7a78f..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Configs/StatesMonitorConfig.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <stdint.h>
-
-namespace RIG
-{
-namespace Config
-{
-namespace StatesMonitor
-{
-constexpr int BOARDS_NUMBER = 5;
-constexpr long long int MAX_TIMEOUT = 5000; // [ms]
-constexpr uint32_t UPDATE_PERIOD = 1000;
-} // namespace StatesMonitor
-} // namespace Config
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Configs/TARSConfig.h b/src/boards/RIG/Configs/TARSConfig.h
deleted file mode 100644
index a6031a3053a64e5986c3eae627b796a476e32c1c..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Configs/TARSConfig.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#pragma once
-
-#include <stdint.h>
-
-namespace RIG
-{
-namespace Config
-{
-namespace TARS
-{
-constexpr uint16_t TARS_UPDATE_PERIOD = 10;
-constexpr uint8_t TARS_FILTER_SAMPLE_NUMBER = 10;
-constexpr float TARS_TARGET_TEMPERATURE = 25; // Celsius
-
-constexpr uint32_t TARS_WASHING_OPENING_TIME = 5000; // [ms]
-constexpr uint32_t TARS_WASHING_TIME_DELAY =
- 1000; //[ms] Represents a delay of opening two different valves
-constexpr uint32_t TARS_FILLING_OPENING_TIME = 900000; // [ms] 15min
-constexpr uint32_t TARS_PRESSURE_STABILIZE_WAIT_TIME = 1000; // [ms] 1s
-
-constexpr uint16_t TARS_NUMBER_MASS_STABLE_ITERATIONS = 2;
-
-constexpr float TARS_MASS_TOLERANCE = 0.2; //[kg]
-constexpr float TARS_PRESSURE_TOLERANCE = 0.035; //[bar]
-} // namespace TARS
-} // namespace Config
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Radio/Radio.cpp b/src/boards/RIG/Radio/Radio.cpp
deleted file mode 100644
index bf3be8a30547760c3d9bef3077070e61070237ed..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Radio/Radio.cpp
+++ /dev/null
@@ -1,462 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#include <RIG/Actuators/Actuators.h>
-#include <RIG/Buses.h>
-#include <RIG/CanHandler/CanHandler.h>
-#include <RIG/Radio/Radio.h>
-#include <RIG/StateMachines/GroundModeManager/GroundModeManager.h>
-#include <RIG/TMRepository/TMRepository.h>
-#include <common/Events.h>
-#include <common/Topics.h>
-#include <drivers/interrupt/external_interrupts.h>
-#include <events/EventBroker.h>
-#include <radio/SX1278/SX1278Frontends.h>
-#include <radio/SerialTransceiver/SerialTransceiver.h>
-
-using namespace Boardcore;
-using namespace miosix;
-
-void __attribute__((used)) EXTI5_IRQHandlerImpl()
-{
- ModuleManager& modules = ModuleManager::getInstance();
- if (modules.get<RIG::Radio>()->transceiver != nullptr)
- {
- modules.get<RIG::Radio>()->transceiver->handleDioIRQ();
- }
-}
-
-void __attribute__((used)) EXTI12_IRQHandlerImpl()
-{
- ModuleManager& modules = ModuleManager::getInstance();
- if (modules.get<RIG::Radio>()->transceiver != nullptr)
- {
- modules.get<RIG::Radio>()->transceiver->handleDioIRQ();
- }
-}
-
-void __attribute__((used)) EXTI13_IRQHandlerImpl()
-{
- ModuleManager& modules = ModuleManager::getInstance();
- if (modules.get<RIG::Radio>()->transceiver != nullptr)
- {
- modules.get<RIG::Radio>()->transceiver->handleDioIRQ();
- }
-}
-namespace RIG
-{
-
-Radio::Radio()
-{
- // Initialize previous state to avoid undefined behaviour
- previousState.arm_switch = 0;
- previousState.filling_valve_btn = 0;
- previousState.ignition_btn = 0;
- previousState.quick_connector_btn = 0;
- previousState.release_pressure_btn = 0;
- previousState.start_tars_btn = 0;
- previousState.venting_valve_btn = 0;
-}
-
-Radio::~Radio()
-{
- mavDriver->stop();
- delete mavDriver;
-}
-
-bool Radio::start()
-{
- ModuleManager& modules = ModuleManager::getInstance();
-
- // Config the transceiver
- SX1278Lora::Config config{};
- config.power = 2;
- config.ocp = 0; // Over current protection
- config.coding_rate = SX1278Lora::Config::Cr::CR_1;
- config.spreading_factor = SX1278Lora::Config::Sf::SF_7;
-
- std::unique_ptr<SX1278::ISX1278Frontend> frontend =
- std::make_unique<EbyteFrontend>(radio::txEn::getPin(),
- radio::rxEn::getPin());
-
- transceiver = new SX1278Lora(
- modules.get<Buses>()->spi4, radio::cs::getPin(), radio::dio0::getPin(),
- radio::dio1::getPin(), radio::dio3::getPin(), SPI::ClockDivider::DIV_64,
- std::move(frontend));
-
- SX1278Lora::Error error = transceiver->init(config);
-
- // Config mavDriver
- mavDriver = new MavDriver(
- transceiver,
- [=](MavDriver*, const mavlink_message_t& msg)
- { this->handleMavlinkMessage(msg); },
- Config::Radio::MAV_SLEEP_AFTER_SEND,
- Config::Radio::MAV_OUT_BUFFER_MAX_AGE);
-
- // This thread allows the radio to exit a possible deadlock situation where
- // the driver waits for a missed interrupt. By default the priority is MAX -
- // 1
- radioBackupDIO = std::thread(
- [=]()
- {
- while (true)
- {
- Thread::sleep(
- 5000); // wait 5 seconds and then launch the interrupt
- {
- FastInterruptDisableLock lock;
- transceiver->handleDioIRQ();
- }
- }
- });
-
- // In case of failure the mav driver must be created at least
- if (error != SX1278Lora::Error::NONE)
- {
- return false;
- }
-
- return mavDriver->start();
-}
-
-void Radio::sendAck(const mavlink_message_t& msg)
-{
- mavlink_message_t ackMsg;
- mavlink_msg_ack_tm_pack(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &ackMsg, msg.msgid,
- msg.seq);
- buffer.put(ackMsg);
-}
-
-void Radio::sendNack(const mavlink_message_t& msg)
-{
- mavlink_message_t nackMsg;
- mavlink_msg_nack_tm_pack(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &nackMsg,
- msg.msgid, msg.seq);
- buffer.put(nackMsg);
-}
-
-void Radio::logStatus()
-{
- MavlinkStatus stats = mavDriver->getStatus();
- SDlogger.log(stats);
-}
-
-bool Radio::isStarted() { return mavDriver->isStarted(); }
-
-void Radio::handleMavlinkMessage(const mavlink_message_t& msg)
-{
- ModuleManager& modules = ModuleManager::getInstance();
- switch (msg.msgid)
- {
- case MAVLINK_MSG_ID_PING_TC:
- {
- // Do nothing just add the ack to the queue
- break;
- }
- case MAVLINK_MSG_ID_COMMAND_TC:
- {
- // Important to return instead of breaking because handle command
- // can decide whether to send ack or nack
- return handleCommand(msg);
- }
- case MAVLINK_MSG_ID_SYSTEM_TM_REQUEST_TC:
- {
- SystemTMList tmId = static_cast<SystemTMList>(
- mavlink_msg_system_tm_request_tc_get_tm_id(&msg));
- switch (tmId)
- {
- default:
- {
- mavlink_message_t response =
- modules.get<TMRepository>()->packSystemTm(
- tmId, msg.msgid, msg.seq);
-
- // Add the response to the buffer
- buffer.put(response);
-
- if (response.msgid == MAVLINK_MSG_ID_NACK_TM)
- {
- // No break to let tmRepo decide for nack
- return;
- }
- break;
- }
- }
- break;
- }
- case MAVLINK_MSG_ID_CONRIG_STATE_TC:
- {
- // In this case all the messages in the queue must be sent
- // after adding the ack to the queue. DO NOT USE get AND isFull with
- // the generic message class type
- sendAck(msg);
- size_t count = buffer.count();
-
- for (size_t i = 0; i < count; i++)
- {
- // Handle the possible exception
- try
- {
- mavDriver->enqueueMsg(buffer.pop());
- }
- catch (const std::exception& e)
- {
- LOG_ERR(logger, "Circular buffer generated an exception");
- }
- }
-
- // After sending all the packets in buffer send the RIG state
- // messages
- mavDriver->enqueueMsg(modules.get<TMRepository>()->packSystemTm(
- SystemTMList::MAV_GSE_ID, msg.msgid, msg.seq));
- mavDriver->enqueueMsg(modules.get<TMRepository>()->packSystemTm(
- SystemTMList::MAV_MOTOR_ID, msg.msgid, msg.seq));
-
- mavlink_conrig_state_tc_t state;
- mavlink_msg_conrig_state_tc_decode(&msg, &state);
-
- // Extract the buttons data and if there is a slope post the event
- if (previousState.arm_switch == 0 && state.arm_switch == 1)
- {
- if (Kernel::getOldTick() >
- lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
- {
- EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
- Common::TOPIC_TARS);
- EventBroker::getInstance().post(Common::TMTC_ARM,
- Common::TOPIC_MOTOR);
- modules.get<CanHandler>()->sendEvent(
- Common::CanConfig::EventId::ARM);
-
- lastManualCommand = Kernel::getOldTick();
- }
- }
- if (previousState.filling_valve_btn == 0 &&
- state.filling_valve_btn == 1)
- {
- if (Kernel::getOldTick() >
- lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
- {
- EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
- Common::TOPIC_TARS);
- modules.get<Actuators>()->toggleServo(
- ServosList::FILLING_VALVE);
-
- lastManualCommand = Kernel::getOldTick();
- }
- }
- if (previousState.ignition_btn == 0 && state.ignition_btn == 1)
- {
- if (Kernel::getOldTick() >
- lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
- {
- EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
- Common::TOPIC_TARS);
- EventBroker::getInstance().post(Common::MOTOR_IGNITION,
- Common::TOPIC_MOTOR);
- lastManualCommand = Kernel::getOldTick();
- }
- }
- if (previousState.quick_connector_btn == 0 &&
- state.quick_connector_btn == 1)
- {
- if (Kernel::getOldTick() >
- lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
- {
- EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
- Common::TOPIC_TARS);
- modules.get<Actuators>()->toggleServo(
- ServosList::DISCONNECT_SERVO);
- lastManualCommand = Kernel::getOldTick();
- }
- }
- if (previousState.release_pressure_btn == 0 &&
- state.release_pressure_btn == 1)
- {
- if (Kernel::getOldTick() >
- lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
- {
- EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
- Common::TOPIC_TARS);
- modules.get<Actuators>()->toggleServo(
- ServosList::RELEASE_VALVE);
-
- lastManualCommand = Kernel::getOldTick();
- }
- }
- if (previousState.start_tars_btn == 0 && state.start_tars_btn == 1)
- {
- if (Kernel::getOldTick() >
- lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
- {
- EventBroker::getInstance().post(Common::MOTOR_START_TARS,
- Common::TOPIC_TARS);
- lastManualCommand = Kernel::getOldTick();
- }
- }
- if (previousState.venting_valve_btn == 0 &&
- state.venting_valve_btn == 1)
- {
- if (Kernel::getOldTick() >
- lastManualCommand +
- Config::Radio::RADIO_LAST_COMMAND_THRESHOLD)
- {
- EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
- Common::TOPIC_TARS);
- modules.get<Actuators>()->toggleServo(
- ServosList::VENTING_VALVE);
-
- lastManualCommand = Kernel::getOldTick();
- }
- }
-
- if (previousState.arm_switch == 1 && state.arm_switch == 0)
- {
- EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
- Common::TOPIC_TARS);
- EventBroker::getInstance().post(Common::TMTC_DISARM,
- Common::TOPIC_MOTOR);
- modules.get<CanHandler>()->sendEvent(
- Common::CanConfig::EventId::DISARM);
-
- lastManualCommand = Kernel::getOldTick();
- }
-
- previousState = state;
-
- // Important to return and not to break to avoid a redundant ack
- return;
- }
- case MAVLINK_MSG_ID_WIGGLE_SERVO_TC:
- {
- EventBroker::getInstance().post(Common::MOTOR_MANUAL_ACTION,
- Common::TOPIC_TARS);
- // Wiggle only the machine is in ready state
- ServosList servo = static_cast<ServosList>(
- mavlink_msg_wiggle_servo_tc_get_servo_id(&msg));
-
- if (modules.get<GroundModeManager>()->getStatus().state ==
- GroundModeManagerState::READY)
- {
- bool result = modules.get<Actuators>()->wiggleServo(servo);
-
- if (!result)
- {
- sendNack(msg);
- return;
- }
- }
- else
- {
- sendNack(msg);
- return;
- }
-
- break;
- }
- case MAVLINK_MSG_ID_SET_ATOMIC_VALVE_TIMING_TC:
- {
- uint32_t timing =
- mavlink_msg_set_atomic_valve_timing_tc_get_maximum_timing(&msg);
- ServosList servo = static_cast<ServosList>(
- mavlink_msg_set_atomic_valve_timing_tc_get_servo_id(&msg));
- modules.get<Actuators>()->setTiming(servo, timing);
- break;
- }
- case MAVLINK_MSG_ID_SET_VALVE_MAXIMUM_APERTURE_TC:
- {
- float aperture =
- mavlink_msg_set_valve_maximum_aperture_tc_get_maximum_aperture(
- &msg);
- ServosList servo = static_cast<ServosList>(
- mavlink_msg_set_valve_maximum_aperture_tc_get_servo_id(&msg));
- modules.get<Actuators>()->setMaximumAperture(servo, aperture);
- break;
- }
- case MAVLINK_MSG_ID_SET_IGNITION_TIME_TC:
- {
- uint32_t timing = mavlink_msg_set_ignition_time_tc_get_timing(&msg);
- modules.get<GroundModeManager>()->setIgnitionTime(timing);
- break;
- }
- default:
- {
- // Unknown message
- sendNack(msg);
- return;
- }
- }
- sendAck(msg);
-}
-
-void Radio::handleCommand(const mavlink_message_t& msg)
-{
- uint8_t command = mavlink_msg_command_tc_get_command_id(&msg);
- switch (command)
- {
- case MAV_CMD_START_LOGGING:
- {
- bool result = Logger::getInstance().start();
-
- // If the log reached the maximum allowed number then send a nack
- if (!result || Logger::getInstance().getCurrentLogNumber() ==
- Logger::getMaxFilenameNumber())
- {
- sendNack(msg);
- return;
- }
-
- break;
- }
- case MAV_CMD_STOP_LOGGING:
- {
- Logger::getInstance().stop();
- break;
- }
- case MAV_CMD_CALIBRATE:
- {
- EventBroker::getInstance().post(Common::TMTC_CALIBRATE,
- Common::TOPIC_MOTOR);
- ModuleManager::getInstance().get<CanHandler>()->sendEvent(
- Common::CanConfig::EventId::CALIBRATE);
- break;
- }
- default:
- {
- // Send a nack for unknown message
- sendNack(msg);
- return;
- }
- }
-
- sendAck(msg);
-}
-
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Radio/Radio.h b/src/boards/RIG/Radio/Radio.h
deleted file mode 100644
index df4b7849d47747cbca55a3373ea06087e3e9bc9c..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Radio/Radio.h
+++ /dev/null
@@ -1,102 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <RIG/Configs/RadioConfig.h>
-#include <common/MavlinkGemini.h>
-#include <radio/MavlinkDriver/MavlinkDriver.h>
-#include <radio/SX1278/SX1278Lora.h>
-#include <utils/collections/CircularBuffer.h>
-
-#include <thread>
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace RIG
-{
-using MavDriver = Boardcore::MavlinkDriver<Boardcore::SX1278Lora::MTU,
- Config::Radio::RADIO_OUT_QUEUE_SIZE,
- Config::Radio::RADIO_MAV_MSG_LENGTH>;
-class Radio : public Boardcore::Module
-{
-public:
- Radio();
-
- ~Radio();
-
- /**
- * @brief Starts the MavlinkDriver.
- */
- [[nodiscard]] bool start();
-
- /**
- * @brief Prepares and adds to the buffer an ack message for the given
- * message.
- *
- * @param msg The message received that we need to acknowledge.
- */
- void sendAck(const mavlink_message_t& msg);
-
- /**
- * @brief Prepares and adds to the buffer a nack message for the given
- * message.
- *
- * @param msg The message received that we need to not acknowledge.
- */
- void sendNack(const mavlink_message_t& msg);
-
- /**
- * @brief Saves the MavlinkDriver and transceiver status.
- */
- void logStatus();
-
- /**
- * @brief Returns if the radio module is correctly started
- */
- bool isStarted();
-
- Boardcore::SX1278Lora* transceiver = nullptr;
- MavDriver* mavDriver = nullptr;
-
-private:
- /**
- * @brief Called by the MavlinkDriver when a message is received.
- */
- void handleMavlinkMessage(const mavlink_message_t& msg);
-
- /**
- * @brief Called by handleMavlinkMessage to handle a command message.
- */
- void handleCommand(const mavlink_message_t& msg);
-
- mavlink_conrig_state_tc_t previousState;
- Boardcore::CircularBuffer<mavlink_message_t,
- Config::Radio::RADIO_CIRCULAR_BUFFER_SIZE>
- buffer;
- std::thread radioBackupDIO;
-
- long long lastManualCommand =
- 0; // Timestamp of the last command execution [ms]
- Boardcore::Logger& SDlogger = Boardcore::Logger::getInstance();
- Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("Radio");
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Sensors/ADCsData.h b/src/boards/RIG/Sensors/ADCsData.h
deleted file mode 100644
index 464f702fefd458f323c77af60749977d0e6602e3..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Sensors/ADCsData.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <sensors/ADS131M04/ADS131M04Data.h>
-
-namespace RIG
-{
-struct ADCsData : Boardcore::ADS131M04Data
-{
- uint8_t ADCnumber;
-
- ADCsData() : ADS131M04Data{0, 0, 0, 0, 0} { ADCnumber = 0; }
-
- ADCsData(uint64_t time, uint8_t num, float ch1, float ch2, float ch3,
- float ch4)
- : ADS131M04Data{time, ch1, ch2, ch3, ch4}
- {
- ADCnumber = num;
- }
-
- static std::string header()
- {
- return "timestamp,ADCnumber,voltage_channel_1,voltage_channel_2,"
- "voltage_channel_"
- "3,voltage_channel_4\n";
- }
-
- void print(std::ostream& os) const
- {
- os << timestamp << "," << (int)ADCnumber << "," << voltage[0] << ","
- << voltage[1] << "," << voltage[2] << "," << voltage[3] << "\n";
- }
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Sensors/LoadCellsData.h b/src/boards/RIG/Sensors/LoadCellsData.h
deleted file mode 100644
index 6628bf0aafaac7b778d9281b2dddce9d886231e9..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Sensors/LoadCellsData.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <sensors/SensorData.h>
-#include <stdint.h>
-
-namespace RIG
-{
-struct LoadCellsData : Boardcore::LoadCellData
-{
- uint8_t cellNumber;
-
- LoadCellsData() : LoadCellData{0, 0} { cellNumber = 0; }
-
- LoadCellsData(uint64_t time, uint8_t cell, float l)
- : Boardcore::LoadCellData{time, l}
- {
- cellNumber = cell;
- }
-
- static std::string header() { return "loadTimestamp,cellNumber,load\n"; }
-
- void print(std::ostream& os) const
- {
- os << loadTimestamp << "," << (int)cellNumber << "," << load << ","
- << "\n";
- }
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Sensors/Sensors.cpp b/src/boards/RIG/Sensors/Sensors.cpp
deleted file mode 100644
index 96ecbd2648e0edc2378a137ac0635a2dc50a7c07..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Sensors/Sensors.cpp
+++ /dev/null
@@ -1,491 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <RIG/Buses.h>
-#include <RIG/Configs/SensorsConfig.h>
-#include <RIG/Sensors/ADCsData.h>
-#include <RIG/Sensors/LoadCellsData.h>
-#include <RIG/Sensors/Sensors.h>
-#include <drivers/timer/TimestampTimer.h>
-
-using namespace Boardcore;
-using namespace miosix;
-using namespace std;
-
-namespace RIG
-{
-ADS131M04Data Sensors::getADC1LastSample()
-{
- PauseKernelLock l;
- return adc1->getLastSample();
-}
-
-ADS131M04Data Sensors::getADC2LastSample()
-{
- PauseKernelLock l;
- return adc2->getLastSample();
-}
-
-HX711Data Sensors::getTankWeight()
-{
- PauseKernelLock l;
- HX711Data sample = loadCell2->getLastSample();
- sample.load -= offsetLoadCell2;
- sample.load = -sample.load;
- return sample;
-}
-
-HX711Data Sensors::getVesselWeight()
-{
- PauseKernelLock l;
- HX711Data sample = loadCell1->getLastSample();
- sample.load -= offsetLoadCell1;
- return sample;
-}
-
-TemperatureData Sensors::getThermocoupleLastSample()
-{
- PauseKernelLock l;
- return ((!canSensorFlag) ? thermocouple->getLastSample()
- : canTankTemperature);
-}
-
-PressureData Sensors::getFillingPress()
-{
- // It is important to call the getter method to separate the critical
- // section from the calculation ones
- ADS131M04Data lastSample = getADC1LastSample();
-
- // Calculate the current and then based on linear relation calculate the
- // pressure
- float current =
- lastSample.voltage[1] / Config::Sensors::ADC1_CH1_SHUNT_RESISTANCE;
-
- // Convert the current in mA
- current = current * 1000;
-
- // Calculate the pressure given the linear formula 4..20mA for
- // 0..max_pressure
-
- // shift the current to let the line pass through 0 point
- current = current - Config::Sensors::SENSOR_MIN_CURRENT;
-
- float pressure = (current / (Config::Sensors::SENSOR_MAX_CURRENT -
- Config::Sensors::SENSOR_MIN_CURRENT)) *
- Config::Sensors::FILLING_MAX_PRESSURE;
-
- return PressureData{lastSample.timestamp, pressure};
-}
-
-PressureData Sensors::getTankTopPress()
-{
- // It is important to call the getter method to separate the critical
- // section from the calculation ones
- ADS131M04Data lastSample = getADC1LastSample();
-
- // Calculate the current and then based on linear relation calculate the
- // pressure
- float current =
- lastSample.voltage[3] / Config::Sensors::ADC1_CH2_SHUNT_RESISTANCE;
-
- // Convert the current in mA
- current = current * 1000;
-
- // Calculate the pressure given the linear formula 4..20mA for
- // 0..max_pressure
-
- // shift the current to let the line pass through 0 point
- current = current - Config::Sensors::SENSOR_MIN_CURRENT;
-
- float pressure = (current / (Config::Sensors::SENSOR_MAX_CURRENT -
- Config::Sensors::SENSOR_MIN_CURRENT)) *
- Config::Sensors::TANK_TOP_MAX_PRESSURE;
-
- return ((!canSensorFlag) ? PressureData{lastSample.timestamp, pressure}
- : canTopTankPressure);
-}
-
-PressureData Sensors::getTankBottomPress()
-{
- // It is important to call the getter method to separate the critical
- // section from the calculation ones
- ADS131M04Data lastSample = getADC1LastSample();
-
- // Calculate the current and then based on linear relation calculate the
- // pressure
- float current =
- lastSample.voltage[2] / Config::Sensors::ADC1_CH3_SHUNT_RESISTANCE;
-
- // Convert the current in mA
- current = current * 1000;
-
- // Calculate the pressure given the linear formula 4..20mA for
- // 0..max_pressure
-
- // shift the current to let the line pass through 0 point
- current = current - Config::Sensors::SENSOR_MIN_CURRENT;
-
- float pressure = (current / (Config::Sensors::SENSOR_MAX_CURRENT -
- Config::Sensors::SENSOR_MIN_CURRENT)) *
- Config::Sensors::TANK_BOTTOM_MAX_PRESSURE;
-
- return ((!canSensorFlag) ? PressureData{lastSample.timestamp, pressure}
- : canBottomTankPressure);
-}
-
-PressureData Sensors::getVesselPress()
-{
- // It is important to call the getter method to separate the critical
- // section from the calculation ones
- ADS131M04Data lastSample = getADC1LastSample();
-
- // Calculate the current and then based on linear relation calculate the
- // pressure
- float current =
- lastSample.voltage[0] / Config::Sensors::ADC1_CH4_SHUNT_RESISTANCE;
-
- // Convert the current in mA
- current = current * 1000;
-
- // Calculate the pressure given the linear formula 4..20mA for
- // 0..max_pressure
-
- // shift the current to let the line pass through 0 point
- current = current - Config::Sensors::SENSOR_MIN_CURRENT;
-
- float pressure = (current / (Config::Sensors::SENSOR_MAX_CURRENT -
- Config::Sensors::SENSOR_MIN_CURRENT)) *
- Config::Sensors::VESSEL_MAX_PRESSURE;
-
- return PressureData{lastSample.timestamp, pressure};
-}
-
-BatteryVoltageSensorData Sensors::getBatteryVoltage()
-{
- // Get the analog ADC2 reading
- ADS131M04Data lastSample = getADC2LastSample();
-
- // Raw reading
- float voltage =
- Config::Sensors::VOLTAGE_CONVERSION_FACTOR * lastSample.voltage[2];
-
- BatteryVoltageSensorData result{};
-
- result.voltage = voltage;
- result.voltageTimestamp = lastSample.timestamp;
- return result;
-}
-
-CurrentData Sensors::getCurrent()
-{
- // Get the analog ADC2 reading
- ADS131M04Data lastSample = getADC2LastSample();
-
- // Raw voltage reading
- float voltage =
- Config::Sensors::CURRENT_CONVERSION_FACTOR * lastSample.voltage[3];
-
- // 2.5V is half the dynamic
- float current = -((voltage - 2.52) /
- Config::Sensors::VOLTAGE_CURRENT_CONVERSION_FACTOR);
-
- CurrentData result{};
-
- result.current = current;
- result.currentTimestamp = lastSample.timestamp;
- return result;
-}
-
-PressureData Sensors::getCCPress()
-{
- PauseKernelLock lock;
- return canCCPressure;
-}
-
-CurrentData Sensors::getMainCurrent()
-{
- PauseKernelLock lock;
- return (!canSensorFlag) ? CurrentData{} : canMainCurrent;
-}
-
-CurrentData Sensors::getPayloadCurrent()
-{
- PauseKernelLock lock;
- return (!canSensorFlag) ? CurrentData{} : canPayloadCurrent;
-}
-
-CurrentData Sensors::getMotorCurrent()
-{
- PauseKernelLock lock;
- return (!canSensorFlag) ? CurrentData{} : canMotorCurrent;
-}
-
-BatteryVoltageSensorData Sensors::getMotorBatteryVoltage()
-{
- PauseKernelLock lock;
- return (!canSensorFlag) ? BatteryVoltageSensorData{} : canMotorVoltage;
-}
-
-void Sensors::setCCPressure(PressureData data)
-{
- PauseKernelLock lock;
- canSensorFlag = true;
- canCCPressure = data;
- canCCPressure.pressureTimestamp = TimestampTimer::getTimestamp();
-}
-
-void Sensors::setBottomTankPressure(PressureData data)
-{
- PauseKernelLock lock;
- canSensorFlag = true;
- canBottomTankPressure = data;
- canBottomTankPressure.pressureTimestamp = TimestampTimer::getTimestamp();
-}
-
-void Sensors::setTopTankPressure(PressureData data)
-{
- PauseKernelLock lock;
- canSensorFlag = true;
- canTopTankPressure = data;
- canTopTankPressure.pressureTimestamp = TimestampTimer::getTimestamp();
-}
-
-void Sensors::setTankTemperature(TemperatureData data)
-{
- PauseKernelLock lock;
- canSensorFlag = true;
- canTankTemperature = data;
- canTankTemperature.temperatureTimestamp = TimestampTimer::getTimestamp();
-}
-
-void Sensors::setMotorCurrent(CurrentData data)
-{
- PauseKernelLock lock;
- canSensorFlag = true;
- canMotorCurrent = data;
- canMotorCurrent.currentTimestamp = TimestampTimer::getTimestamp();
-}
-
-void Sensors::setMainCurrent(CurrentData data)
-{
- PauseKernelLock lock;
- canSensorFlag = true;
- canMainCurrent = data;
- canMainCurrent.currentTimestamp = TimestampTimer::getTimestamp();
-}
-
-void Sensors::setPayloadCurrent(CurrentData data)
-{
- PauseKernelLock lock;
- canSensorFlag = true;
- canPayloadCurrent = data;
- canPayloadCurrent.currentTimestamp = TimestampTimer::getTimestamp();
-}
-
-void Sensors::setMotorVoltage(BatteryVoltageSensorData data)
-{
- PauseKernelLock lock;
- canSensorFlag = true;
- canMotorVoltage = data;
- canMotorVoltage.voltageTimestamp = TimestampTimer::getTimestamp();
-}
-
-Sensors::Sensors(TaskScheduler* sched) : scheduler{sched} {}
-
-bool Sensors::start()
-{
- // Init all the sensors
- adc1Init();
- adc2Init();
- loadCell1Init();
- loadCell2Init();
- thermocoupleInit();
-
- // Create the sensors manager with the desired scheduler and the sensors map
- manager = new SensorManager(sensorMap, scheduler);
- return manager->start();
-}
-
-void Sensors::stop() { manager->stop(); }
-
-bool Sensors::isStarted() { return manager->areAllSensorsInitialized(); }
-
-void Sensors::calibrate()
-{
- Stats sample1, sample2;
-
- // Take some samples of the 2 load cells
- for (int i = 0; i < 10; i++)
- {
- // DO NOT USE THE GETTERS BECAUSE THE OFFSET IS ALREADY APPLIED
- {
- PauseKernelLock lock;
- sample1.add(loadCell1->getLastSample().load);
- sample2.add(loadCell2->getLastSample().load);
- }
-
- // Wait for some reasonable time
- Thread::sleep(Config::Sensors::LOAD_CELL_SAMPLE_PERIOD * 3);
- }
-
- offsetLoadCell1 = sample1.getStats().mean;
- offsetLoadCell2 = sample2.getStats().mean;
-}
-
-void Sensors::adc1Init()
-{
- ModuleManager& modules = ModuleManager::getInstance();
-
- SPIBusConfig config;
- config.mode = SPI::Mode::MODE_0;
- config.clockDivider = SPI::ClockDivider::DIV_32;
-
- ADS131M04::Config sensorConfig;
- sensorConfig.oversamplingRatio = ADS131M04Defs::OversamplingRatio::OSR_8192;
- sensorConfig.globalChopModeEnabled = true;
-
- adc1 = new ADS131M04(modules.get<Buses>()->spi1,
- sensors::ADS131_1::cs::getPin(), config, sensorConfig);
-
- // Config and enter the sensors info to feed to the sensors manager
- SensorInfo info("ADS131_1", Config::Sensors::ADC_SAMPLE_PERIOD,
- bind(&Sensors::adc1Callback, this));
- sensorMap.emplace(make_pair(adc1, info));
- LOG_INFO(logger, "Initialized ADC1");
-}
-void Sensors::adc1Callback()
-{
- ADS131M04Data sample = adc1->getLastSample();
-
- ADCsData data{sample.timestamp, 1,
- sample.voltage[0], sample.voltage[1],
- sample.voltage[2], sample.voltage[3]};
-
- SDlogger.log(data);
-}
-
-void Sensors::adc2Init()
-{
- ModuleManager& modules = ModuleManager::getInstance();
-
- SPIBusConfig config;
- config.mode = SPI::Mode::MODE_0;
- config.clockDivider = SPI::ClockDivider::DIV_32;
-
- ADS131M04::Config sensorConfig;
- sensorConfig.oversamplingRatio = ADS131M04Defs::OversamplingRatio::OSR_8192;
- sensorConfig.globalChopModeEnabled = true;
-
- adc2 = new ADS131M04(modules.get<Buses>()->spi1,
- sensors::ADS131_2::cs::getPin(), config, sensorConfig);
-
- // Config and enter the sensors info to feed to the sensors manager
- SensorInfo info("ADS131_2", Config::Sensors::ADC_SAMPLE_PERIOD,
- bind(&Sensors::adc2Callback, this));
- sensorMap.emplace(make_pair(adc2, info));
- LOG_INFO(logger, "Initialized ADC2");
-}
-void Sensors::adc2Callback()
-{
- ADS131M04Data sample = adc2->getLastSample();
-
- ADCsData data{sample.timestamp, 2,
- sample.voltage[0], sample.voltage[1],
- sample.voltage[2], sample.voltage[3]};
-
- SDlogger.log(data);
-}
-
-void Sensors::loadCell1Init()
-{
- ModuleManager& modules = ModuleManager::getInstance();
- loadCell1 =
- new HX711(modules.get<Buses>()->spi2, sensors::HX711_1::sck::getPin());
-
- loadCell1->setOffset(Config::Sensors::LOAD_CELL1_OFFSET);
- loadCell1->setScale(Config::Sensors::LOAD_CELL1_SCALE);
-
- // Config and enter the sensors info to feed to the sensors manager
- SensorInfo info("HX711_1", Config::Sensors::LOAD_CELL_SAMPLE_PERIOD,
- bind(&Sensors::loadCell1Callback, this));
- sensorMap.emplace(make_pair(loadCell1, info));
- LOG_INFO(logger, "Initialized loadCell1");
-}
-void Sensors::loadCell1Callback()
-{
- HX711Data sample = loadCell1->getLastSample();
-
- LoadCellsData data;
-
- data.cellNumber = 1;
- data.load = sample.load;
- data.loadTimestamp = sample.loadTimestamp;
-
- SDlogger.log(data);
-}
-
-void Sensors::loadCell2Init()
-{
- ModuleManager& modules = ModuleManager::getInstance();
- loadCell2 =
- new HX711(modules.get<Buses>()->spi6, sensors::HX711_2::sck::getPin());
-
- loadCell2->setOffset(Config::Sensors::LOAD_CELL2_OFFSET);
- loadCell2->setScale(Config::Sensors::LOAD_CELL2_SCALE);
-
- // Config and enter the sensors info to feed to the sensors manager
- SensorInfo info("HX711_2", Config::Sensors::LOAD_CELL_SAMPLE_PERIOD,
- bind(&Sensors::loadCell2Callback, this));
- sensorMap.emplace(make_pair(loadCell2, info));
- LOG_INFO(logger, "Initialized loadCell2");
-}
-void Sensors::loadCell2Callback()
-{
- HX711Data sample = loadCell2->getLastSample();
-
- LoadCellsData data;
-
- data.cellNumber = 2;
- data.load = sample.load;
- data.loadTimestamp = sample.loadTimestamp;
-
- SDlogger.log(data);
-}
-
-void Sensors::thermocoupleInit()
-{
- ModuleManager& modules = ModuleManager::getInstance();
- thermocouple = new MAX31855(modules.get<Buses>()->spi1,
- sensors::MAX31855::cs::getPin());
-
- // Config and enter the sensors info to feed to the sensors manager
- SensorInfo info("MAX31855", Config::Sensors::THERMOCOUPLE_SAMPLE_PERIOD,
- bind(&Sensors::thermocoupleCallback, this));
- sensorMap.emplace(make_pair(thermocouple, info));
- LOG_INFO(logger, "Initialized thermocouple");
-}
-void Sensors::thermocoupleCallback()
-{
- SDlogger.log(thermocouple->getLastSample());
-}
-
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/Sensors/Sensors.h b/src/boards/RIG/Sensors/Sensors.h
deleted file mode 100644
index de7b1742b4c9e8c61d96cc39c113de91376707b5..0000000000000000000000000000000000000000
--- a/src/boards/RIG/Sensors/Sensors.h
+++ /dev/null
@@ -1,151 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <sensors/ADS131M04/ADS131M04.h>
-#include <sensors/HX711/HX711.h>
-#include <sensors/MAX31855/MAX31855.h>
-#include <sensors/SensorManager.h>
-#include <sensors/analog/BatteryVoltageSensorData.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace RIG
-{
-class Sensors : public Boardcore::Module
-{
-public:
- /**
- * @brief Construct a new Sensors object
- *
- * @param sched The scheduler to be used from the board scheduler
- * @note The scheduler determines the priority
- */
- Sensors(Boardcore::TaskScheduler* sched);
-
- [[nodiscard]] bool start();
-
- /**
- * @brief Stops the sensors manager
- * @warning Stops the passed scheduler
- */
- void stop();
-
- /**
- * @brief Returns if the module is correctly started
- */
- bool isStarted();
-
- /**
- * @brief Calibrates the load cells with an offset
- */
- void calibrate();
-
- // Getters methods, they pause the kernel
- Boardcore::ADS131M04Data getADC1LastSample();
- Boardcore::ADS131M04Data getADC2LastSample();
- Boardcore::HX711Data getTankWeight();
- Boardcore::HX711Data getVesselWeight();
- Boardcore::TemperatureData getThermocoupleLastSample();
-
- // Processed getters
- Boardcore::PressureData getFillingPress();
- Boardcore::PressureData getTankTopPress();
- Boardcore::PressureData getTankBottomPress();
- Boardcore::PressureData getVesselPress();
- Boardcore::BatteryVoltageSensorData getBatteryVoltage();
- Boardcore::CurrentData getCurrent();
- Boardcore::PressureData getCCPress();
-
- // CAN sensors setters
- void setCCPressure(Boardcore::PressureData data);
- void setBottomTankPressure(Boardcore::PressureData data);
- void setTopTankPressure(Boardcore::PressureData data);
- void setTankTemperature(Boardcore::TemperatureData data);
- void setMotorCurrent(Boardcore::CurrentData data);
- void setMainCurrent(Boardcore::CurrentData data);
- void setPayloadCurrent(Boardcore::CurrentData data);
- void setMotorVoltage(Boardcore::BatteryVoltageSensorData data);
-
- // Can sensors getters
- Boardcore::CurrentData getMotorCurrent();
- Boardcore::CurrentData getMainCurrent();
- Boardcore::CurrentData getPayloadCurrent();
- Boardcore::BatteryVoltageSensorData getMotorBatteryVoltage();
-
-private:
- // Init and callback methods
- void adc1Init();
- void adc1Callback();
-
- void adc2Init();
- void adc2Callback();
-
- void loadCell1Init();
- void loadCell1Callback();
-
- void loadCell2Init();
- void loadCell2Callback();
-
- void thermocoupleInit();
- void thermocoupleCallback();
-
- // SD logger
- Boardcore::Logger& SDlogger = Boardcore::Logger::getInstance();
-
- // Sensors
- Boardcore::ADS131M04* adc1 = nullptr;
- Boardcore::ADS131M04* adc2 = nullptr;
-
- Boardcore::HX711* loadCell1 = nullptr;
- Boardcore::HX711* loadCell2 = nullptr;
-
- Boardcore::MAX31855* thermocouple = nullptr;
-
- // Manager components
- Boardcore::SensorManager* manager = nullptr;
- Boardcore::SensorManager::SensorMap_t sensorMap;
- Boardcore::TaskScheduler* scheduler = nullptr;
-
- // CAN Sensors flag. By default the RIG outputs the sensors from the on
- // board ADC, but as soon as a CAN sensor arrives, the sensors are switched
- // from the CAN
- bool canSensorFlag = false;
-
- // CAN fake sensors data
- Boardcore::PressureData canCCPressure;
- Boardcore::PressureData canBottomTankPressure;
- Boardcore::PressureData canTopTankPressure;
- Boardcore::TemperatureData canTankTemperature;
- Boardcore::CurrentData canMotorCurrent;
- Boardcore::CurrentData canMainCurrent;
- Boardcore::CurrentData canPayloadCurrent;
- Boardcore::BatteryVoltageSensorData canMotorVoltage;
-
- // Offsets (thread safe)
- std::atomic<float> offsetLoadCell1{0.0};
- std::atomic<float> offsetLoadCell2{0.0};
-
- Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("Sensors");
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp b/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp
deleted file mode 100644
index 94f7f21e6d3ccfce6e295c8c722843f4403c1696..0000000000000000000000000000000000000000
--- a/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp
+++ /dev/null
@@ -1,213 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <RIG/Actuators/Actuators.h>
-#include <RIG/CanHandler/CanHandler.h>
-#include <RIG/Configs/GroundModeManagerConfig.h>
-#include <RIG/Sensors/Sensors.h>
-#include <RIG/StateMachines/GroundModeManager/GroundModeManager.h>
-#include <common/Events.h>
-#include <common/Topics.h>
-#include <drivers/timer/TimestampTimer.h>
-
-using namespace Boardcore;
-using namespace Common;
-
-namespace RIG
-{
-GroundModeManager::GroundModeManager()
- : FSM(&GroundModeManager::state_idle),
- ignitionTime(Config::Ignition::DEFAULT_IGNITION_WAITING_TIME)
-{
- EventBroker::getInstance().subscribe(this, TOPIC_MOTOR);
-}
-
-void GroundModeManager::state_idle(const Event& event)
-{
- switch (event)
- {
- case EV_ENTRY:
- {
- return logStatus(GroundModeManagerState::IDLE);
- }
- case FMM_INIT_OK:
- {
- return transition(&GroundModeManager::state_ready);
- }
- }
-}
-
-void GroundModeManager::state_ready(const Event& event)
-{
- ModuleManager& modules = ModuleManager::getInstance();
- switch (event)
- {
- case EV_ENTRY:
- {
- // Send an DISARM CAN event
- modules.get<CanHandler>()->sendEvent(
- Common::CanConfig::EventId::DISARM);
-
- // Disarm the relays
- miosix::relays::ignition::high();
- miosix::relays::nitrogen::high();
- miosix::relays::ledLamp::high();
-
- return logStatus(GroundModeManagerState::READY);
- }
- case TMTC_ARM:
- {
- return transition(&GroundModeManager::state_armed);
- }
- case TMTC_CALIBRATE:
- {
- // Send CAN event
- modules.get<CanHandler>()->sendEvent(
- Common::CanConfig::EventId::CALIBRATE);
-
- // Blocking (but not too complex) operation of calibration
- modules.get<Sensors>()->calibrate();
- break;
- }
- }
-}
-
-void GroundModeManager::state_armed(const Event& event)
-{
- ModuleManager& modules = ModuleManager::getInstance();
- switch (event)
- {
- case EV_ENTRY:
- {
- // Send an ARM CAN event
- modules.get<CanHandler>()->sendEvent(
- Common::CanConfig::EventId::ARM);
-
- // Turn on the light
- miosix::relays::ledLamp::low();
-
- // Expire all servos timings
- modules.get<Actuators>()->closeAllServo();
- return logStatus(GroundModeManagerState::ARMED);
- }
- case TMTC_DISARM:
- {
- // Turn off the light
- miosix::relays::ledLamp::high();
-
- return transition(&GroundModeManager::state_ready);
- }
- case MOTOR_IGNITION:
- {
- return transition(&GroundModeManager::state_igniting);
- }
- }
-}
-
-void GroundModeManager::state_igniting(const Event& event)
-{
- // A static variable is not really necessary
- static int oxidantTimeoutEventId = -1;
-
- ModuleManager& modules = ModuleManager::getInstance();
-
- switch (event)
- {
- case EV_ENTRY:
- {
- // Fire the igniter
- miosix::relays::ignition::low();
-
- // Set the delayed event for oxidant
- oxidantTimeoutEventId = EventBroker::getInstance().postDelayed(
- MOTOR_OPEN_OXIDANT, TOPIC_MOTOR, ignitionTime);
-
- logStatus(GroundModeManagerState::IGNITING);
- break;
- }
- case MOTOR_OPEN_OXIDANT:
- {
- // Shut down the igniter
- miosix::relays::ignition::high();
-
- modules.get<Actuators>()->toggleServo(ServosList::MAIN_VALVE);
- break;
- }
- case MOTOR_CLOSE_FEED_VALVE:
- // {
- // // Shut down the igniter
- // miosix::relays::ignition::high();
- //
- // // Close all the valves
- // modules.get<Actuators>()->closeAllServo();
- //
- // EventBroker::getInstance().removeDelayed(oxidantTimeoutEventId);
- //
- // transition(&GroundModeManager::state_ready);
- // break;
- // }
- case TMTC_DISARM:
- {
- // Shut down the igniter
- miosix::relays::ignition::high();
-
- // Close all the valves
- modules.get<Actuators>()->closeAllServo();
-
- EventBroker::getInstance().removeDelayed(oxidantTimeoutEventId);
-
- for (uint32_t i = 0; i < Config::Ignition::NUMBER_NITROGEN_BUMPS;
- i++)
- {
- Thread::sleep(Config::Ignition::DEAD_TIME_AFTER_BURN);
- // Open nitrogen
- miosix::relays::nitrogen::low();
- Thread::sleep(Config::Ignition::NITROGEN_OPENING_TIME);
- // Close nitrogen
- miosix::relays::nitrogen::high();
- }
-
- transition(&GroundModeManager::state_ready);
- break;
- }
- }
-}
-
-void GroundModeManager::setIgnitionTime(uint32_t ignitionTime)
-{
- this->ignitionTime = ignitionTime;
-}
-
-void GroundModeManager::logStatus(GroundModeManagerState state)
-{
- status.timestamp = TimestampTimer::getTimestamp();
- status.state = state;
-
- Logger::getInstance().log(status);
-}
-
-GroundModeManagerStatus GroundModeManager::getStatus()
-{
- miosix::PauseKernelLock lock;
- return status;
-}
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.h b/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.h
deleted file mode 100644
index a5620f6b0df2604f68b20420123b6f2e4aa196e1..0000000000000000000000000000000000000000
--- a/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#pragma once
-
-#include <RIG/StateMachines/GroundModeManager/GroundModeManagerData.h>
-#include <events/EventBroker.h>
-#include <events/FSM.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace RIG
-{
-class GroundModeManager : public Boardcore::Module,
- public Boardcore::FSM<GroundModeManager>
-{
-public:
- GroundModeManager();
-
- // FSM states
- void state_idle(const Boardcore::Event& event);
- void state_ready(const Boardcore::Event& event);
- void state_armed(const Boardcore::Event& event);
- void state_igniting(const Boardcore::Event& event);
-
- /**
- * @brief Sets the ignition time
- *
- * @param ignitionTime Time in [ms]
- */
- void setIgnitionTime(uint32_t ignitionTime);
-
- // Status getter
- GroundModeManagerStatus getStatus();
-
-private:
- /**
- * @brief Logs the current FSM status on SD
- */
- void logStatus(GroundModeManagerState state);
-
- // User Radio set ignition time
- uint32_t ignitionTime;
-
- // Current status
- GroundModeManagerStatus status;
-
- Boardcore::PrintLogger logger =
- Boardcore::Logging::getLogger("GroundModeManager");
-};
-
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManagerData.h b/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManagerData.h
deleted file mode 100644
index b7178a808fd103f7967688dcb25794d6400a437b..0000000000000000000000000000000000000000
--- a/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManagerData.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <stdint.h>
-
-#include <iostream>
-#include <string>
-
-namespace RIG
-{
-
-enum class GroundModeManagerState : uint8_t
-{
- UNINIT = 0,
- IDLE,
- READY,
- ARMED,
- IGNITING
-};
-
-struct GroundModeManagerStatus
-{
- long long timestamp = 0;
- GroundModeManagerState state = GroundModeManagerState::UNINIT;
-
- static std::string header() { return "timestamp,state\n"; }
-
- void print(std::ostream& os) const
- {
- os << timestamp << "," << (int)state << "\n";
- }
-};
-
-} // namespace RIG
diff --git a/src/boards/RIG/StateMachines/TARS1/MedianFilter.h b/src/boards/RIG/StateMachines/TARS1/MedianFilter.h
deleted file mode 100644
index b7cbd259cc404f026618340f072e8085b990a67d..0000000000000000000000000000000000000000
--- a/src/boards/RIG/StateMachines/TARS1/MedianFilter.h
+++ /dev/null
@@ -1,202 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#pragma once
-
-#include <iostream>
-
-namespace RIG
-{
-/**
- * @brief Median filter for embedded adapted to avoid recursion.
- * The object calculates a static 1D median filter, which depends on the
- * template parameters.
- *
- * @tparam T type of object to sort and median filter.
- * @tparam S number of samples needed for a static analysis.
- */
-template <typename T, int S>
-class MedianFilter
-{
-public:
- MedianFilter() : m_idx(0), ready(false), m_med(0)
- {
- // Initialize the arrays
- for (int i = 0; i < S; i++)
- {
- m_buf[i] = 0;
- m_tmp[i] = 0;
- }
- }
-
- /**
- * @brief Adds the sample S to the window and computes the
- * median if enough samples have been gathered.
- *
- * @param s The sample to add to the median filter
- */
- void add(T s)
- {
- m_buf[m_idx] = s;
- m_idx = (m_idx + 1) % S;
-
- if (m_idx == 0)
- {
- calcMedian();
- ready = true;
- }
- else
- {
- ready = false;
- }
- }
-
- /**
- * @brief returns the median computed when the last sample was
- * added. Does not return anything meaningful if not enough samples
- * have been gathered; check isReady() first.
- *
- * @return T the median element
- */
- T getMedian() { return m_med; }
-
- /**
- * @brief returns the state of the computed median.
- * If the number of elements is not a multiple of the size,
- * then ready is false and the median does not have sense with
- * respect to the last inserted values.
- *
- * @note depending on the history of insertions, even if it is not ready,
- * the median is consistent. In case of not previously inserted values it is
- * 0 and in case of previously inserted values, the median is the previous
- * one.
- *
- * @return true
- * @return false
- */
- bool isReady() { return ready; }
-
- /**
- * @brief Resets the internal state of the object.
- */
- void reset()
- {
- m_idx = 0;
- m_med = 0;
- ready = false;
-
- // Reset the arrays
- for (int i = 0; i < S; i++)
- {
- m_buf[i] = 0;
- m_tmp[i] = 0;
- }
- }
-
-private:
- int m_idx;
- bool ready;
- T m_buf[S], m_tmp[S], m_med;
-
- /**
- * @brief helper to calculate the median. Copies
- * the buffer into the temp area, then calls Hoare's in-place
- * selection algorithm to obtain the median.
- */
- void calcMedian()
- {
- for (int i = 0; i < S; i++)
- {
- m_tmp[i] = m_buf[i];
- }
- m_med = select(0, S - 1, S / 2);
- }
-
- /**
- * @brief partition function, like from quicksort.
- * l and r are the left and right bounds of the array (m_tmp),
- * respectively, and p is the pivot index.
- *
- * @param l left bound of m_tmp array
- * @param r right bound of m_tmp array
- * @param p pivot index
- */
- int partition(int l, int r, int p)
- {
- T tmp;
- T pv = m_tmp[p];
- m_tmp[p] = m_tmp[r];
- m_tmp[r] = pv;
- int s = l;
- for (int i = l; i < r; i++)
- {
- if (m_tmp[i] < pv)
- {
- tmp = m_tmp[s];
- m_tmp[s] = m_tmp[i];
- m_tmp[i] = tmp;
- s++;
- }
- }
- tmp = m_tmp[s];
- m_tmp[s] = m_tmp[r];
- m_tmp[r] = tmp;
- return s;
- }
-
- /**
- * @brief Hoare's quickselect. l and r are the
- * array bounds, and k conveys that we want to return
- * the k-th value
- *
- * @param l left bound of m_tmp array
- * @param r right bound of m_tmp array
- * @param k wanted position of return value
- */
- T select(int l, int r, int k)
- {
- int p = 0;
- do
- {
- if (l == r)
- {
- return m_tmp[l];
- }
-
- p = (l + r) / 2;
- p = partition(l, r, p);
-
- // The case in which k == p is evaluated outside the loop
- if (k < p)
- {
- r = p - 1;
- }
- else if (k > p)
- {
- l = p + 1;
- }
-
- } while (p != k);
-
- return m_tmp[k];
- }
-};
-} // namespace RIG
diff --git a/src/boards/RIG/StateMachines/TARS1/TARS1.cpp b/src/boards/RIG/StateMachines/TARS1/TARS1.cpp
deleted file mode 100644
index 83cad4fd56eb57ce5b2ef4835be3c15fd15ba1e7..0000000000000000000000000000000000000000
--- a/src/boards/RIG/StateMachines/TARS1/TARS1.cpp
+++ /dev/null
@@ -1,321 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#include <RIG/Actuators/Actuators.h>
-#include <RIG/Sensors/Sensors.h>
-#include <RIG/StateMachines/TARS1/TARS1.h>
-#include <drivers/timer/TimestampTimer.h>
-
-using namespace Boardcore;
-using namespace miosix;
-using namespace Common;
-
-namespace RIG
-{
-TARS1::TARS1(TaskScheduler* sched) : FSM(&TARS1::state_idle), scheduler(sched)
-{
- EventBroker::getInstance().subscribe(this, TOPIC_TARS);
- EventBroker::getInstance().subscribe(this, TOPIC_MOTOR);
-}
-
-bool TARS1::start()
-{
- // Add task to the task scheduler to sample and compute the average of the
- // sensors
- uint8_t result = scheduler->addTask([=]() { sample(); },
- Config::TARS::TARS_UPDATE_PERIOD,
- TaskScheduler::Policy::RECOVER);
-
- return ActiveObject::start() && result != 0;
-}
-
-void TARS1::state_idle(const Event& event)
-{
- switch (event)
- {
- case EV_ENTRY:
- {
- return logStatus(TARS1State::IDLE);
- }
- case FMM_INIT_OK:
- {
- return transition(&TARS1::state_ready);
- }
- }
-}
-
-void TARS1::state_ready(const Event& event)
-{
- ModuleManager& modules = ModuleManager::getInstance();
- switch (event)
- {
- case EV_ENTRY:
- {
- // Reset all the stats and samples
- {
- Lock<FastMutex> lock(mutex);
- samples.mass = 0;
- samples.pressure = 0;
-
- massAtVenting = 0;
- previousMassAtVenting = 0;
- previousPressure = 0;
-
- massStableCounter = 0;
- sampleCounter = 0;
-
- filteredData.mass.reset();
- filteredData.pressure.reset();
- }
- return logStatus(TARS1State::READY);
- }
- case MOTOR_START_TARS:
- {
- // By default close all valves
- modules.get<Actuators>()->closeAllServo();
- return transition(&TARS1::state_washing);
- }
- }
-}
-
-void TARS1::state_washing(const Event& event)
-{
- // A static variable is not really necessary
- static int washingTimeout = -1;
-
- ModuleManager& modules = ModuleManager::getInstance();
- switch (event)
- {
- case EV_ENTRY:
- {
- // Open the feed and venting valves for washing time
- modules.get<Actuators>()->openServoAtomic(
- ServosList::VENTING_VALVE,
- Config::TARS::TARS_WASHING_OPENING_TIME +
- Config::TARS::TARS_WASHING_TIME_DELAY);
-
- // Sleep to avoid actuators turn at the same time
- Thread::sleep(2 * Config::TARS::TARS_WASHING_TIME_DELAY);
-
- modules.get<Actuators>()->openServoAtomic(
- ServosList::FILLING_VALVE,
- Config::TARS::TARS_WASHING_OPENING_TIME);
-
- // After double the washing time it translates to the refueling
- washingTimeout = EventBroker::getInstance().postDelayed(
- TARS_WASHING_DONE, TOPIC_TARS,
- Config::TARS::TARS_WASHING_OPENING_TIME * 2);
-
- return logStatus(TARS1State::WASHING);
- }
- case TARS_WASHING_DONE:
- {
- // Open the filling valve for a long time
- modules.get<Actuators>()->openServoAtomic(
- ServosList::FILLING_VALVE,
- Config::TARS::TARS_FILLING_OPENING_TIME);
-
- // Wait for PRESSURE STABILIZE WAIT TIME
- Thread::sleep(Config::TARS::TARS_PRESSURE_STABILIZE_WAIT_TIME);
-
- return transition(&TARS1::state_refueling);
- }
- case MOTOR_MANUAL_ACTION:
- {
- // Delete the post delayed event
- EventBroker::getInstance().removeDelayed(washingTimeout);
- return transition(&TARS1::state_ready);
- }
- case TMTC_ARM:
- case MOTOR_STOP_TARS:
- case MOTOR_IGNITION:
- case MOTOR_START_TARS:
- {
- // Close all the valves
- modules.get<Actuators>()->closeAllServo();
- // Delete the post delayed event
- EventBroker::getInstance().removeDelayed(washingTimeout);
- // If another type of event is thrown the FSM returns to ready state
- return transition(&TARS1::state_ready);
- }
- }
-}
-
-void TARS1::state_refueling(const Event& event)
-{
- // A static variable is not really necessary
- static int pressureStabilize = -1;
-
- ModuleManager& modules = ModuleManager::getInstance();
- switch (event)
- {
- case TARS_PRESSURE_STABILIZED:
- case EV_ENTRY:
- {
- // Check if the algorithm can fill more
- if (isMaximumMass())
- {
- if (massStableCounter >=
- Config::TARS::TARS_NUMBER_MASS_STABLE_ITERATIONS)
- {
- massStableCounter = 0;
- return EventBroker::getInstance().post(TARS_FILLING_DONE,
- TOPIC_TARS);
- }
- else
- {
- massStableCounter++;
- }
- }
- else
- {
- massStableCounter = 0;
- }
-
- // Open the venting and wait for the pressure to stabilize
- modules.get<Actuators>()->toggleServo(ServosList::VENTING_VALVE);
- pressureStabilize = EventBroker::getInstance().postDelayed(
- TARS_CHECK_PRESSURE_STABILIZE, TOPIC_TARS,
- modules.get<Actuators>()->getTiming(ServosList::VENTING_VALVE) +
- Config::TARS::TARS_PRESSURE_STABILIZE_WAIT_TIME * 5);
-
- return logStatus(TARS1State::REFUELING);
- }
- case TARS_CHECK_PRESSURE_STABILIZE:
- {
- if (!isPressureStable())
- {
- // Iterate until the pressure is stable
- pressureStabilize = EventBroker::getInstance().postDelayed(
- TARS_CHECK_PRESSURE_STABILIZE, TOPIC_TARS,
- Config::TARS::TARS_PRESSURE_STABILIZE_WAIT_TIME);
-
- // Update the previous pressure sampling
- {
- Lock<FastMutex> lock(mutex);
- previousPressure = samples.pressure;
- }
-
- return;
- }
-
- Thread::sleep(Config::TARS::TARS_PRESSURE_STABILIZE_WAIT_TIME);
-
- // Update mass at venting
- {
- Lock<FastMutex> lock(mutex);
- previousMassAtVenting = massAtVenting;
- massAtVenting = samples.mass;
- }
-
- return EventBroker::getInstance().post(TARS_PRESSURE_STABILIZED,
- TOPIC_TARS);
- }
- case TARS_FILLING_DONE:
- {
- EventBroker::getInstance().removeDelayed(pressureStabilize);
- // Close all the valves and stop the algorithm
- modules.get<Actuators>()->closeAllServo();
-
- return transition(&TARS1::state_ready);
- }
- case MOTOR_MANUAL_ACTION:
- {
- EventBroker::getInstance().removeDelayed(pressureStabilize);
- return transition(&TARS1::state_ready);
- }
- case TMTC_ARM:
- case MOTOR_STOP_TARS:
- case MOTOR_IGNITION:
- case MOTOR_START_TARS:
- {
- EventBroker::getInstance().removeDelayed(pressureStabilize);
- // Close all the valves
- modules.get<Actuators>()->closeAllServo();
- // If another type of event is thrown the FSM returns to ready state
- return transition(&TARS1::state_ready);
- }
- }
-}
-
-void TARS1::logStatus(TARS1State state)
-{
- // Set the current state to be logged by the sample thread
- status.state = state;
-}
-
-TARS1Status TARS1::getStatus()
-{
- PauseKernelLock lock;
- return status;
-}
-
-void TARS1::sample()
-{
- ModuleManager& modules = ModuleManager::getInstance();
-
- // Sample the sensors and update the averages
- {
- Lock<FastMutex> lock(mutex);
-
- float pressure = modules.get<Sensors>()->getTankBottomPress().pressure;
- float mass = modules.get<Sensors>()->getTankWeight().load;
-
- filteredData.pressure.add(pressure);
- filteredData.mass.add(mass);
-
- sampleCounter++;
-
- // When the number of samples reaches the template buffer number
- if (filteredData.pressure.isReady())
- {
- samples.pressure = filteredData.pressure.getMedian();
- samples.mass = filteredData.mass.getMedian();
- sampleCounter = 0;
-
- // Log the TARS state
- status.timestamp = TimestampTimer::getTimestamp();
- status.pressure = samples.pressure;
- status.mass = samples.mass;
-
- Logger::getInstance().log(status);
- }
- }
-}
-
-bool TARS1::isMaximumMass()
-{
- {
- Lock<FastMutex> lock(mutex);
- return (abs(massAtVenting - previousMassAtVenting) <
- Config::TARS::TARS_MASS_TOLERANCE);
- }
-}
-
-bool TARS1::isPressureStable()
-{
- {
- Lock<FastMutex> lock(mutex);
- return (abs(samples.pressure - previousPressure) <
- Config::TARS::TARS_PRESSURE_TOLERANCE);
- }
-}
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/StateMachines/TARS1/TARS1.h b/src/boards/RIG/StateMachines/TARS1/TARS1.h
deleted file mode 100644
index 3fa5d1d89887c817117bf1897ea496461f6f896a..0000000000000000000000000000000000000000
--- a/src/boards/RIG/StateMachines/TARS1/TARS1.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <RIG/Configs/TARSConfig.h>
-#include <RIG/StateMachines/TARS1/MedianFilter.h>
-#include <RIG/StateMachines/TARS1/TARS1Data.h>
-#include <common/Events.h>
-#include <common/Topics.h>
-#include <events/EventBroker.h>
-#include <events/FSM.h>
-#include <scheduler/TaskScheduler.h>
-#include <utils/Stats/Stats.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace RIG
-{
-class TARS1 : public Boardcore::Module, public Boardcore::FSM<TARS1>
-{
-public:
- TARS1(Boardcore::TaskScheduler* sched);
-
- /**
- * @brief Overrides Active Object's method to add also the task to the task
- * scheduler to sample the sensors and filter them
- */
- [[nodiscard]] bool start() override;
-
- // FSM states
- void state_idle(const Boardcore::Event& event);
- void state_ready(const Boardcore::Event& event);
- void state_washing(const Boardcore::Event& event);
- void state_refueling(const Boardcore::Event& event);
-
- // Status getter
- TARS1Status getStatus();
-
-private:
- /**
- * @brief Logs the current FSM status on SD
- */
- void logStatus(TARS1State state);
-
- /**
- * @brief Samples the sensors and computes an average
- */
- void sample();
-
- /**
- * @brief Evaluates if the algorithm reached its maximum capabilities in
- * filling the tank
- */
- bool isMaximumMass();
-
- /**
- * @brief Evaluates if the pressure inside the tank is at equilibrium
- */
- bool isPressureStable();
-
- // Data structure output of sampling
- struct
- {
- float pressure = 0;
- float mass = 0;
- } samples;
-
- // Data structure for filtering purposes
- struct
- {
- MedianFilter<float, Config::TARS::TARS_FILTER_SAMPLE_NUMBER> pressure;
- MedianFilter<float, Config::TARS::TARS_FILTER_SAMPLE_NUMBER> mass;
- } filteredData;
-
- // Registered mass after venting
- float massAtVenting = 0;
- float previousMassAtVenting = 0;
-
- // Registered pressure before checking
- float previousPressure = 0;
-
- // Number of times the mass was stable
- uint16_t massStableCounter = 0;
-
- // Counts the number of samples done for the average measure
- uint16_t sampleCounter = 0;
-
- // Current status
- TARS1Status status;
-
- // Dedicated scheduler for sampling sensors periodically
- Boardcore::TaskScheduler* scheduler = nullptr;
-
- // Mutex to synchronize sampling and reading
- miosix::FastMutex mutex;
-
- Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("TARS1");
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/StateMachines/TARS1/TARS1Data.h b/src/boards/RIG/StateMachines/TARS1/TARS1Data.h
deleted file mode 100644
index 3ce3da6852614ddc417383dbd7bb4df9a25112d6..0000000000000000000000000000000000000000
--- a/src/boards/RIG/StateMachines/TARS1/TARS1Data.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-#include <stdint.h>
-
-#include <iostream>
-#include <string>
-
-namespace RIG
-{
-enum class TARS1State : uint8_t
-{
- UNINIT = 0,
- IDLE,
- READY,
- WASHING,
- REFUELING,
-};
-
-struct TARS1Status
-{
- long long timestamp = 0;
- float pressure = 0;
- float mass = 0;
- TARS1State state = TARS1State::UNINIT;
-
- static std::string header() { return "timestamp,state,pressure,mass\n"; }
-
- void print(std::ostream& os) const
- {
- os << timestamp << "," << (int)state << "," << pressure << "," << mass
- << "\n";
- }
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/StatesMonitor/StatesMonitor.cpp b/src/boards/RIG/StatesMonitor/StatesMonitor.cpp
deleted file mode 100644
index 32c287881890cc3ad23247439bbb0e8dc7a0cadc..0000000000000000000000000000000000000000
--- a/src/boards/RIG/StatesMonitor/StatesMonitor.cpp
+++ /dev/null
@@ -1,89 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <RIG/StatesMonitor/StatesMonitor.h>
-
-using namespace Boardcore;
-using namespace miosix;
-
-namespace RIG
-{
-StatesMonitor::StatesMonitor(TaskScheduler* sched) : scheduler(sched)
-{
- // Init the arrays
- for (int i = 0; i < Config::StatesMonitor::BOARDS_NUMBER; i++)
- {
- updateTimestamps[i] = 0;
- boardStatuses[i] = 0;
- }
-}
-
-bool StatesMonitor::start()
-{
- // Add the task to the scheduler
- uint8_t result = scheduler->addTask([=]() { this->update(); },
- Config::StatesMonitor::UPDATE_PERIOD);
- return result != 0;
-}
-
-void StatesMonitor::update()
-{
- Lock<FastMutex> lock(mutex);
-
- for (int i = 0; i < Config::StatesMonitor::BOARDS_NUMBER; i++)
- {
- // Check if the time since the last config expires
- if (Kernel::getOldTick() >
- updateTimestamps[i] + Config::StatesMonitor::MAX_TIMEOUT)
- {
- boardStatuses[i] = 0;
- }
- }
-}
-
-void StatesMonitor::setBoardStatus(Common::CanConfig::Board board,
- uint8_t status)
-{
- Lock<FastMutex> lock(mutex);
- uint8_t index = static_cast<uint8_t>(board);
-
- // Check the validity of the board index
- if (index < Config::StatesMonitor::BOARDS_NUMBER)
- {
- boardStatuses[index] = status;
- updateTimestamps[index] = Kernel::getOldTick();
- }
-}
-
-uint8_t StatesMonitor::getStatus(Common::CanConfig::Board board)
-{
- Lock<FastMutex> lock(mutex);
- uint8_t index = static_cast<uint8_t>(board);
-
- if (index < Config::StatesMonitor::BOARDS_NUMBER)
- {
- return boardStatuses[index];
- }
- return 0;
-}
-
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/StatesMonitor/StatesMonitor.h b/src/boards/RIG/StatesMonitor/StatesMonitor.h
deleted file mode 100644
index 7f4d62f68f4104226dd6e0ab9d3229b76ffb4962..0000000000000000000000000000000000000000
--- a/src/boards/RIG/StatesMonitor/StatesMonitor.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <RIG/Configs/StatesMonitorConfig.h>
-#include <common/CanConfig.h>
-#include <scheduler/TaskScheduler.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace RIG
-{
-/**
- * @brief The class monitors and updates the states of every board.
- * The CAN module when receives a state update, sets the current state into this
- * module. Every N seconds, the module checks if the states have been updated,
- * and if not resets them.
- */
-class StatesMonitor : public Boardcore::Module
-{
-public:
- StatesMonitor(Boardcore::TaskScheduler* sched);
-
- /**
- * @brief Starts the update function
- */
- bool start();
-
- /**
- * @brief Update function which checks periodically the last time in which
- * the single states where updated. Eventually if the last update is greater
- * than N seconds ago the state is set to 0.
- */
- void update();
-
- /**
- * @brief Sets the passed Board to a specific status
- */
- void setBoardStatus(Common::CanConfig::Board board, uint8_t status);
-
- /**
- * @brief Get the status of a specific Board
- */
- uint8_t getStatus(Common::CanConfig::Board board);
-
-private:
- // Board info
- long long int updateTimestamps[Config::StatesMonitor::BOARDS_NUMBER];
- uint8_t boardStatuses[Config::StatesMonitor::BOARDS_NUMBER];
-
- // Sync mutex
- miosix::FastMutex mutex;
-
- Boardcore::TaskScheduler* scheduler = nullptr;
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/TMRepository/TMRepository.cpp b/src/boards/RIG/TMRepository/TMRepository.cpp
deleted file mode 100644
index 58ecc23fbfb29539e09f46acdf00ed34d8cd1e71..0000000000000000000000000000000000000000
--- a/src/boards/RIG/TMRepository/TMRepository.cpp
+++ /dev/null
@@ -1,382 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <RIG/Actuators/Actuators.h>
-#include <RIG/BoardScheduler.h>
-#include <RIG/Radio/Radio.h>
-#include <RIG/Sensors/Sensors.h>
-#include <RIG/StateMachines/GroundModeManager/GroundModeManager.h>
-#include <RIG/StateMachines/TARS1/TARS1.h>
-#include <RIG/StatesMonitor/StatesMonitor.h>
-#include <RIG/TMRepository/TMRepository.h>
-#include <drivers/timer/TimestampTimer.h>
-#include <events/EventBroker.h>
-
-using namespace Boardcore;
-using namespace miosix;
-using namespace Common;
-
-namespace RIG
-{
-mavlink_message_t TMRepository::packSystemTm(SystemTMList tmId, uint8_t msgId,
- uint8_t seq)
-{
- mavlink_message_t msg;
- ModuleManager& modules = ModuleManager::getInstance();
-
- // Prevents preemption, THIS FUNCTION MUST NOT yeld OR USE KERNEL. THE ONLY
- // ALLOWED OPERATION ARE COPIES OF DATA STRUCTURES.
- PauseKernelLock lock;
-
- switch (tmId)
- {
- case SystemTMList::MAV_SYS_ID:
- {
- mavlink_sys_tm_t tm;
-
- tm.timestamp = TimestampTimer::getTimestamp();
- tm.logger = Logger::getInstance().isStarted();
- tm.event_broker = EventBroker::getInstance().isRunning();
- tm.radio = modules.get<Radio>()->isStarted();
- tm.sensors = modules.get<Sensors>()->isStarted();
- tm.board_scheduler = modules.get<BoardScheduler>()->isStarted();
-
- mavlink_msg_sys_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &msg,
- &tm);
- break;
- }
- case SystemTMList::MAV_LOGGER_ID:
- {
- mavlink_logger_tm_t tm;
-
- LoggerStats stats = Logger::getInstance().getStats();
-
- tm.timestamp = TimestampTimer::getTimestamp();
- tm.log_number = stats.logNumber;
- tm.too_large_samples = stats.tooLargeSamples;
- tm.dropped_samples = stats.droppedSamples;
- tm.queued_samples = stats.queuedSamples;
- tm.buffers_filled = stats.buffersFilled;
- tm.buffers_written = stats.buffersWritten;
- tm.writes_failed = stats.writesFailed;
- tm.last_write_error = stats.lastWriteError;
- tm.average_write_time = stats.averageWriteTime;
- tm.max_write_time = stats.maxWriteTime;
-
- mavlink_msg_logger_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &msg,
- &tm);
-
- break;
- }
- case SystemTMList::MAV_MAVLINK_STATS:
- {
- mavlink_mavlink_stats_tm_t tm;
-
- MavlinkStatus stats = modules.get<Radio>()->mavDriver->getStatus();
-
- tm.timestamp = stats.timestamp;
- tm.n_send_queue = stats.nSendQueue;
- tm.max_send_queue = stats.maxSendQueue;
- tm.n_send_errors = stats.nSendErrors;
- tm.msg_received = stats.mavStats.msg_received;
- tm.buffer_overrun = stats.mavStats.buffer_overrun;
- tm.parse_error = stats.mavStats.parse_error;
- tm.parse_state = stats.mavStats.parse_state;
- tm.packet_idx = stats.mavStats.packet_idx;
- tm.current_rx_seq = stats.mavStats.current_rx_seq;
- tm.current_tx_seq = stats.mavStats.current_tx_seq;
- tm.packet_rx_success_count = stats.mavStats.packet_rx_success_count;
- tm.packet_rx_drop_count = stats.mavStats.packet_rx_drop_count;
-
- mavlink_msg_mavlink_stats_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID,
- &msg, &tm);
- break;
- }
- case SystemTMList::MAV_GSE_ID:
- {
- mavlink_gse_tm_t tm;
-
- HX711Data tank = modules.get<Sensors>()->getTankWeight();
- HX711Data vessel = modules.get<Sensors>()->getVesselWeight();
-
- tm.timestamp = TimestampTimer::getTimestamp();
- tm.loadcell_rocket = tank.load;
- tm.loadcell_vessel = vessel.load;
- tm.filling_pressure =
- modules.get<Sensors>()->getFillingPress().pressure;
- tm.vessel_pressure =
- modules.get<Sensors>()->getVesselPress().pressure;
- // TODO change the threshold (cannot be 0 due to angle tolerance)
- tm.filling_valve_state = modules.get<Actuators>()->getServoPosition(
- ServosList::FILLING_VALVE) > 0.3
- ? 1
- : 0;
- tm.venting_valve_state = modules.get<Actuators>()->getServoPosition(
- ServosList::VENTING_VALVE) > 0.3
- ? 1
- : 0;
- tm.release_valve_state = modules.get<Actuators>()->getServoPosition(
- ServosList::RELEASE_VALVE) > 0.3
- ? 1
- : 0;
-
- tm.main_valve_state = modules.get<Actuators>()->getServoPosition(
- ServosList::MAIN_VALVE) > 0.3
- ? 1
- : 0;
-
- tm.arming_state =
- modules.get<GroundModeManager>()->getStatus().state ==
- GroundModeManagerState::ARMED
- ? 1
- : 0;
- tm.ignition_state =
- modules.get<GroundModeManager>()->getStatus().state ==
- GroundModeManagerState::IGNITING
- ? 1
- : 0;
- tm.tars_state =
- static_cast<uint8_t>(modules.get<TARS1>()->getStatus().state);
- tm.battery_voltage =
- modules.get<Sensors>()->getBatteryVoltage().voltage;
- tm.current_consumption =
- modules.get<Sensors>()->getCurrent().current;
-
- // Board statuses
- tm.main_board_status =
- modules.get<StatesMonitor>()->getStatus(CanConfig::Board::MAIN);
- tm.payload_board_status = modules.get<StatesMonitor>()->getStatus(
- CanConfig::Board::PAYLOAD);
- tm.motor_board_status = modules.get<StatesMonitor>()->getStatus(
- CanConfig::Board::MOTOR);
-
- mavlink_msg_gse_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &msg,
- &tm);
- break;
- }
- case SystemTMList::MAV_MOTOR_ID:
- {
- mavlink_motor_tm_t tm;
-
- TemperatureData temp =
- modules.get<Sensors>()->getThermocoupleLastSample();
-
- tm.timestamp = TimestampTimer::getTimestamp();
- tm.top_tank_pressure =
- modules.get<Sensors>()->getTankTopPress().pressure;
- tm.bottom_tank_pressure =
- modules.get<Sensors>()->getTankBottomPress().pressure;
- tm.combustion_chamber_pressure =
- modules.get<Sensors>()->getCCPress().pressure;
- tm.tank_temperature = temp.temperature;
- tm.floating_level = 0;
-
- tm.battery_voltage =
- modules.get<Sensors>()->getMotorBatteryVoltage().batVoltage;
- tm.current_consumption =
- modules.get<Sensors>()->getMotorCurrent().current;
-
- tm.main_valve_state = modules.get<Actuators>()->getServoPosition(
- ServosList::MAIN_VALVE) > 0.3
- ? 1
- : 0;
-
- mavlink_msg_motor_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &msg,
- &tm);
-
- break;
- }
- default:
- {
- // No system ID recognized, send a nack
- mavlink_msg_nack_tm_pack(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &msg,
- msgId, seq);
- break;
- }
- }
- return msg;
-}
-
-mavlink_message_t TMRepository::packSensorsTm(SensorsTMList sensorId,
- uint8_t msgId, uint8_t seq)
-{
- mavlink_message_t msg;
- ModuleManager& modules = ModuleManager::getInstance();
-
- // NO NEED FOR KERNEL LOCK BECAUSE IT IS ALREADY PRESENT INSIDE THE GETTERS
- switch (sensorId)
- {
- case SensorsTMList::MAV_FILLING_PRESS_ID:
- {
- mavlink_pressure_tm_t tm;
-
- PressureData sample = modules.get<Sensors>()->getFillingPress();
-
- tm.timestamp = sample.pressureTimestamp;
- tm.pressure = sample.pressure;
-
- mavlink_msg_pressure_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID,
- &msg, &tm);
-
- break;
- }
- case SensorsTMList::MAV_TANK_TOP_PRESS_ID:
- {
- mavlink_pressure_tm_t tm;
-
- PressureData sample = modules.get<Sensors>()->getTankTopPress();
-
- tm.timestamp = sample.pressureTimestamp;
- tm.pressure = sample.pressure;
-
- mavlink_msg_pressure_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID,
- &msg, &tm);
-
- break;
- }
- case SensorsTMList::MAV_TANK_BOTTOM_PRESS_ID:
- {
- mavlink_pressure_tm_t tm;
-
- PressureData sample = modules.get<Sensors>()->getTankBottomPress();
-
- tm.timestamp = sample.pressureTimestamp;
- tm.pressure = sample.pressure;
-
- mavlink_msg_pressure_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID,
- &msg, &tm);
-
- break;
- }
- case SensorsTMList::MAV_VESSEL_PRESS_ID:
- {
- mavlink_pressure_tm_t tm;
-
- PressureData sample = modules.get<Sensors>()->getVesselPress();
-
- tm.timestamp = sample.pressureTimestamp;
- tm.pressure = sample.pressure;
-
- mavlink_msg_pressure_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID,
- &msg, &tm);
-
- break;
- }
- case SensorsTMList::MAV_TANK_TEMP_ID:
- {
- mavlink_temp_tm_t tm;
-
- TemperatureData temp =
- modules.get<Sensors>()->getThermocoupleLastSample();
-
- tm.timestamp = temp.temperatureTimestamp;
- tm.temperature = temp.temperature;
-
- mavlink_msg_temp_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &msg,
- &tm);
-
- break;
- }
- case SensorsTMList::MAV_LOAD_CELL_VESSEL_ID:
- {
- mavlink_load_tm_t tm;
-
- HX711Data load = modules.get<Sensors>()->getVesselWeight();
-
- tm.timestamp = load.loadTimestamp;
- tm.load = load.load;
-
- mavlink_msg_load_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &msg,
- &tm);
- break;
- }
- case SensorsTMList::MAV_LOAD_CELL_TANK_ID:
- {
- mavlink_load_tm_t tm;
-
- HX711Data load = modules.get<Sensors>()->getTankWeight();
-
- tm.timestamp = load.loadTimestamp;
- tm.load = load.load;
-
- mavlink_msg_load_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &msg,
- &tm);
- break;
- }
- default:
- {
- // No sensor ID recognized, send a nack
- mavlink_msg_nack_tm_pack(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &msg,
- msgId, seq);
- break;
- }
- }
- return msg;
-}
-
-mavlink_message_t TMRepository::packServoTm(ServosList servoId, uint8_t msgId,
- uint8_t seq)
-{
- mavlink_message_t msg;
- ModuleManager& modules = ModuleManager::getInstance();
-
- // Prevents preemption, THIS FUNCTION MUST NOT yeld OR USE KERNEL. THE ONLY
- // ALLOWED OPERATION ARE COPIES OF DATA STRUCTURES.
- PauseKernelLock lock;
-
- if (servoId != MAIN_VALVE && servoId != VENTING_VALVE &&
- servoId != RELEASE_VALVE && servoId != FILLING_VALVE &&
- servoId != DISCONNECT_SERVO)
- {
- // No servo ID recognized, send a nack
- mavlink_msg_nack_tm_pack(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &msg, msgId,
- seq);
- }
- else
- {
- mavlink_servo_tm_t tm;
-
- tm.servo_id = servoId;
- tm.servo_position = modules.get<Actuators>()->getServoPosition(servoId);
-
- mavlink_msg_servo_tm_encode(Config::Radio::MAV_SYSTEM_ID,
- Config::Radio::MAV_COMPONENT_ID, &msg, &tm);
- }
-
- return msg;
-}
-} // namespace RIG
\ No newline at end of file
diff --git a/src/boards/RIG/TMRepository/TMRepository.h b/src/boards/RIG/TMRepository/TMRepository.h
deleted file mode 100644
index e14988eacb049f8561f7dc63a953bca4c64e306c..0000000000000000000000000000000000000000
--- a/src/boards/RIG/TMRepository/TMRepository.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <common/MavlinkGemini.h>
-#include <diagnostic/PrintLogger.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace RIG
-{
-class TMRepository : public Boardcore::Module
-{
-public:
- inline TMRepository() {}
-
- // Packs the telemetry at system level (E.g. logger telemetry..)
- mavlink_message_t packSystemTm(SystemTMList tmId, uint8_t msgId,
- uint8_t seq);
-
- // Packs the telemetry at sensors level (E.g. pressure sensors..)
- mavlink_message_t packSensorsTm(SensorsTMList sensorId, uint8_t msgId,
- uint8_t seq);
-
- // Packs the telemetry about servo positions states
- mavlink_message_t packServoTm(ServosList servoId, uint8_t msgId,
- uint8_t seq);
-
-private:
- Boardcore::PrintLogger logger =
- Boardcore::Logging::getLogger("TMRepository");
-};
-} // namespace RIG
\ No newline at end of file
diff --git a/src/entrypoints/RIG/rig-entry.cpp b/src/entrypoints/RIG/rig-entry.cpp
deleted file mode 100644
index 00eb41ad707d7ae823b609671ed5f9571dfcac88..0000000000000000000000000000000000000000
--- a/src/entrypoints/RIG/rig-entry.cpp
+++ /dev/null
@@ -1,233 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <RIG/Actuators/Actuators.h>
-#include <RIG/BoardScheduler.h>
-#include <RIG/Buses.h>
-#include <RIG/CanHandler/CanHandler.h>
-#include <RIG/Radio/Radio.h>
-#include <RIG/Sensors/Sensors.h>
-#include <RIG/StateMachines/GroundModeManager/GroundModeManager.h>
-#include <RIG/StateMachines/TARS1/TARS1.h>
-#include <RIG/StatesMonitor/StatesMonitor.h>
-#include <RIG/TMRepository/TMRepository.h>
-#include <common/Events.h>
-#include <common/Topics.h>
-#include <diagnostic/CpuMeter/CpuMeter.h>
-#include <diagnostic/PrintLogger.h>
-#include <events/EventBroker.h>
-#include <events/EventData.h>
-#include <events/utils/EventSniffer.h>
-#include <logger/Logger.h>
-#include <miosix.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-using namespace Boardcore;
-using namespace RIG;
-using namespace miosix;
-using namespace Common;
-
-int main()
-{
- ModuleManager& modules = ModuleManager::getInstance();
-
- // Overall status. If at some point it becomes false, there is a problem
- // somewhere
- bool initResult = true;
- PrintLogger logger = Logging::getLogger("main");
-
- // Create modules
- Buses* buses = new Buses();
- BoardScheduler* scheduler = new BoardScheduler();
- Actuators* actuators = new Actuators(scheduler->getScheduler(4));
- Sensors* sensors = new Sensors(scheduler->getScheduler(3));
- Radio* radio = new Radio();
- TMRepository* tmRepo = new TMRepository();
- GroundModeManager* groundModeManager = new GroundModeManager();
- TARS1* tars = new TARS1(scheduler->getScheduler(4));
- CanHandler* can =
- new CanHandler(scheduler->getScheduler(miosix::PRIORITY_MAX - 2));
- StatesMonitor* states =
- new StatesMonitor(scheduler->getScheduler(miosix::MAIN_PRIORITY));
-
- // Initialize singleton modules
- Logger& SDlogger = Logger::getInstance();
- EventBroker& broker = EventBroker::getInstance();
-
- // Insert modules
- if (!modules.insert<Buses>(buses))
- {
- initResult = false;
- LOG_ERR(logger, "Error inserting the buses module");
- }
-
- if (!modules.insert<BoardScheduler>(scheduler))
- {
- initResult = false;
- LOG_ERR(logger, "Error inserting the scheduler module");
- }
-
- if (!modules.insert<Sensors>(sensors))
- {
- initResult = false;
- LOG_ERR(logger, "Error inserting the sensors module");
- }
-
- if (!modules.insert<Actuators>(actuators))
- {
- initResult = false;
- LOG_ERR(logger, "Error inserting the actuators module");
- }
-
- if (!modules.insert<Radio>(radio))
- {
- initResult = false;
- LOG_ERR(logger, "Error inserting the radio module");
- }
-
- if (!modules.insert<TMRepository>(tmRepo))
- {
- initResult = false;
- LOG_ERR(logger, "Error inserting the tm repository module");
- }
-
- if (!modules.insert<GroundModeManager>(groundModeManager))
- {
- initResult = false;
- LOG_ERR(logger, "Error inserting the ground mode manager FSM module");
- }
-
- if (!modules.insert<TARS1>(tars))
- {
- initResult = false;
- LOG_ERR(logger, "Error inserting the tars module");
- }
-
- if (!modules.insert<CanHandler>(can))
- {
- initResult = false;
- LOG_ERR(logger, "Error inserting the CAN module");
- }
-
- if (!modules.insert<StatesMonitor>(states))
- {
- initResult = false;
- LOG_ERR(logger, "Error inserting the States Monitor module");
- }
-
- // Start singleton modules
- if (!SDlogger.testSDCard())
- {
- initResult = false;
- LOG_ERR(logger, "Error starting the SD logger");
- }
-
- if (!broker.start())
- {
- initResult = false;
- LOG_ERR(logger, "Error starting the Event Broker");
- }
-
- // Start modules
- if (!modules.get<Actuators>()->start())
- {
- initResult = false;
- LOG_ERR(logger, "Error starting the actuators module");
- }
-
- if (!modules.get<BoardScheduler>()->start())
- {
- initResult = false;
- LOG_ERR(logger, "Error starting the board scheduler");
- }
-
- if (!modules.get<Sensors>()->start())
- {
- initResult = false;
- LOG_ERR(logger, "Error starting the sensors module");
- }
-
- if (!modules.get<StatesMonitor>()->start())
- {
- initResult = false;
- LOG_ERR(logger, "Error starting the States Monitor module");
- }
-
- if (!modules.get<Radio>()->start())
- {
- initResult = false;
- LOG_ERR(logger, "Error starting the radio module");
- }
-
- if (!modules.get<GroundModeManager>()->start())
- {
- initResult = false;
- LOG_ERR(logger, "Error starting the ground mode manager module");
- }
-
- if (!modules.get<TARS1>()->start())
- {
- initResult = false;
- LOG_ERR(logger, "Error starting the tars module");
- }
-
- if (!modules.get<CanHandler>()->start())
- {
- initResult = false;
- LOG_ERR(logger, "Error starting the CAN module");
- }
-
- if (initResult)
- {
- // POST OK
- ui::redLed::low();
- EventBroker::getInstance().post(FMM_INIT_OK, TOPIC_MOTOR);
- LOG_INFO(logger, "Init success!");
- }
- else
- {
- // POST ERROR
- ui::redLed::high();
- EventBroker::getInstance().post(FMM_INIT_ERROR, TOPIC_MOTOR);
- }
-
- // Log all events
- EventSniffer sniffer(
- EventBroker::getInstance(), TOPICS_LIST,
- [](uint8_t event, uint8_t topic)
- {
- EventData ev{TimestampTimer::getTimestamp(), event, topic};
- Logger::getInstance().log(ev);
- });
-
- // Periodic statistics
- while (true)
- {
- Thread::sleep(1000);
- Logger::getInstance().log(CpuMeter::getCpuStats());
- CpuMeter::resetCpuStats();
- StackLogger::getInstance().log();
- }
-
- return 0;
-}
\ No newline at end of file
diff --git a/src/scripts/logdecoder/RIG/Makefile b/src/scripts/logdecoder/RIG/Makefile
deleted file mode 100644
index 6bbaf34fc2008754ca1425004f33514659c56baf..0000000000000000000000000000000000000000
--- a/src/scripts/logdecoder/RIG/Makefile
+++ /dev/null
@@ -1,16 +0,0 @@
-BOARDCORE := ../../../../skyward-boardcore/
-OBSW := ../../../../src/boards/
-
-all:
- g++ -std=c++17 -O2 -o logdecoder logdecoder.cpp \
- -DCOMPILE_FOR_X86 \
- -DCOMPILE_FOR_HOST \
- $(BOARDCORE)libs/tscpp/tscpp/stream.cpp \
- -I$(BOARDCORE)libs/miosix-host \
- -I$(BOARDCORE)libs/mavlink-skyward-lib \
- -I$(BOARDCORE)libs/eigen \
- -I$(BOARDCORE)libs/tscpp \
- -I$(BOARDCORE)src/shared \
- -I$(OBSW)
-clean:
- rm logdecoder
diff --git a/src/scripts/logdecoder/RIG/logdecoder.cpp b/src/scripts/logdecoder/RIG/logdecoder.cpp
deleted file mode 100644
index 8d9c602b10f0dd896cbf9f861995e02c68e669b8..0000000000000000000000000000000000000000
--- a/src/scripts/logdecoder/RIG/logdecoder.cpp
+++ /dev/null
@@ -1,134 +0,0 @@
-/* Copyright (c) 2018-2022 Skyward Experimental Rocketry
- * Author: Terrane Federico
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <RIG/Actuators/ActuatorsData.h>
-#include <RIG/CanHandler/CanHandlerData.h>
-#include <RIG/Sensors/ADCsData.h>
-#include <RIG/Sensors/LoadCellsData.h>
-#include <RIG/StateMachines/GroundModeManager/GroundModeManagerData.h>
-#include <RIG/StateMachines/TARS1/TARS1Data.h>
-#include <logger/Deserializer.h>
-#include <logger/LogTypes.h>
-#include <tscpp/stream.h>
-
-#include <fstream>
-#include <iostream>
-#include <stdexcept>
-#include <string>
-
-/**
- * @brief Binary log files decoder.
- *
- * This program is to compile for you computer and decodes binary log files
- * through the tscpp library.
- *
- * In LogTypes.h there should be included all the classes you want to
- * deserialize.
- */
-
-using namespace tscpp;
-using namespace Boardcore;
-using namespace RIG;
-
-void registerTypes(Deserializer& ds)
-{
- // Register all Boardcore types
- LogTypes::registerTypes(ds);
-
- // Custom types
- ds.registerType<GroundModeManagerStatus>();
- ds.registerType<LoadCellsData>();
- ds.registerType<ADCsData>();
- ds.registerType<ActuatorsData>();
- ds.registerType<TARS1Status>();
- ds.registerType<CanCurrentSensor>();
- ds.registerType<CanPressureSensor>();
- ds.registerType<CanTemperatureSensor>();
- ds.registerType<CanVoltageSensor>();
-}
-
-void showUsage(const string& cmdName)
-{
- std::cerr << "Usage: " << cmdName << " {-a | <log_file_name> | -h}"
- << "Options:\n"
- << "\t-h,--help\t\tShow help message\n"
- << "\t-a,--all Deserialize all logs in the current directory\n"
- << std::endl;
-}
-
-bool deserialize(string logName)
-{
- std::cout << "Deserializing " << logName << "...\n";
- Deserializer d(logName);
- LogTypes::registerTypes(d);
- registerTypes(d);
-
- return d.deserialize();
-}
-
-bool deserializeAll()
-{
- for (int i = 0; i < 100; i++)
- {
- char nextName[11];
- sprintf(nextName, "log%02d.dat", i);
- struct stat st;
- if (stat(nextName, &st) != 0)
- continue; // File not found
- // File found
- if (!deserialize(string(nextName)))
- return false;
- }
- return true;
-}
-
-int main(int argc, char* argv[])
-{
- if (argc < 2)
- {
- showUsage(string(argv[0]));
- return 1; // Error
- }
-
- bool success = false;
- string arg1 = string(argv[1]);
-
- // Help message
- if (arg1 == "-h" || arg1 == "--help")
- {
- showUsage(string(argv[0]));
- return 0;
- }
-
- // File deserialization
- if (arg1 == "-a" || arg1 == "--all")
- success = deserializeAll();
- else
- success = deserialize(arg1);
-
- // End
- if (success)
- std::cout << "Deserialization completed successfully\n";
- else
- std::cout << "Deserialization ended with errors\n";
- return 0;
-}