From 59229583cba6cc642a4591c6f62082548205ed42 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Fri, 15 Nov 2024 13:06:18 +0100
Subject: [PATCH] [RIG] Remove unused old RIG entrypoint and code
The hardware is not there anymore, no point in keeping it around. Also, Lyra tags can always be used to retrieve it, if needed in the future.
---
CMakeLists.txt | 4 -
cmake/dependencies.cmake | 12 -
src/boards/RIG/Actuators/Actuators.cpp | 413 ---------------
src/boards/RIG/Actuators/Actuators.h | 158 ------
src/boards/RIG/Actuators/ActuatorsData.h | 57 --
src/boards/RIG/BoardScheduler.cpp | 65 ---
src/boards/RIG/BoardScheduler.h | 62 ---
src/boards/RIG/Buses.h | 45 --
src/boards/RIG/CanHandler/CanHandler.cpp | 315 -----------
src/boards/RIG/CanHandler/CanHandler.h | 86 ---
src/boards/RIG/CanHandler/CanHandlerData.h | 92 ----
src/boards/RIG/Configs/ActuatorsConfig.h | 69 ---
src/boards/RIG/Configs/CanHandlerConfig.h | 38 --
.../RIG/Configs/GroundModeManagerConfig.h | 40 --
src/boards/RIG/Configs/RadioConfig.h | 56 --
src/boards/RIG/Configs/RefuelingConfig.h | 35 --
src/boards/RIG/Configs/SensorsConfig.h | 61 ---
src/boards/RIG/Configs/StatesMonitorConfig.h | 38 --
src/boards/RIG/Configs/TARSConfig.h | 48 --
src/boards/RIG/Radio/Radio.cpp | 462 ----------------
src/boards/RIG/Radio/Radio.h | 102 ----
src/boards/RIG/Sensors/ADCsData.h | 55 --
src/boards/RIG/Sensors/LoadCellsData.h | 50 --
src/boards/RIG/Sensors/Sensors.cpp | 491 ------------------
src/boards/RIG/Sensors/Sensors.h | 151 ------
.../GroundModeManager/GroundModeManager.cpp | 213 --------
.../GroundModeManager/GroundModeManager.h | 70 ---
.../GroundModeManager/GroundModeManagerData.h | 55 --
.../RIG/StateMachines/TARS1/MedianFilter.h | 202 -------
src/boards/RIG/StateMachines/TARS1/TARS1.cpp | 321 ------------
src/boards/RIG/StateMachines/TARS1/TARS1.h | 119 -----
.../RIG/StateMachines/TARS1/TARS1Data.h | 55 --
.../RIG/StatesMonitor/StatesMonitor.cpp | 89 ----
src/boards/RIG/StatesMonitor/StatesMonitor.h | 76 ---
src/boards/RIG/TMRepository/TMRepository.cpp | 382 --------------
src/boards/RIG/TMRepository/TMRepository.h | 53 --
src/entrypoints/RIG/rig-entry.cpp | 233 ---------
src/scripts/logdecoder/RIG/Makefile | 16 -
src/scripts/logdecoder/RIG/logdecoder.cpp | 134 -----
39 files changed, 5023 deletions(-)
delete mode 100644 src/boards/RIG/Actuators/Actuators.cpp
delete mode 100644 src/boards/RIG/Actuators/Actuators.h
delete mode 100644 src/boards/RIG/Actuators/ActuatorsData.h
delete mode 100644 src/boards/RIG/BoardScheduler.cpp
delete mode 100644 src/boards/RIG/BoardScheduler.h
delete mode 100644 src/boards/RIG/Buses.h
delete mode 100644 src/boards/RIG/CanHandler/CanHandler.cpp
delete mode 100644 src/boards/RIG/CanHandler/CanHandler.h
delete mode 100644 src/boards/RIG/CanHandler/CanHandlerData.h
delete mode 100644 src/boards/RIG/Configs/ActuatorsConfig.h
delete mode 100644 src/boards/RIG/Configs/CanHandlerConfig.h
delete mode 100644 src/boards/RIG/Configs/GroundModeManagerConfig.h
delete mode 100644 src/boards/RIG/Configs/RadioConfig.h
delete mode 100644 src/boards/RIG/Configs/RefuelingConfig.h
delete mode 100644 src/boards/RIG/Configs/SensorsConfig.h
delete mode 100644 src/boards/RIG/Configs/StatesMonitorConfig.h
delete mode 100644 src/boards/RIG/Configs/TARSConfig.h
delete mode 100644 src/boards/RIG/Radio/Radio.cpp
delete mode 100644 src/boards/RIG/Radio/Radio.h
delete mode 100644 src/boards/RIG/Sensors/ADCsData.h
delete mode 100644 src/boards/RIG/Sensors/LoadCellsData.h
delete mode 100644 src/boards/RIG/Sensors/Sensors.cpp
delete mode 100644 src/boards/RIG/Sensors/Sensors.h
delete mode 100644 src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp
delete mode 100644 src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.h
delete mode 100644 src/boards/RIG/StateMachines/GroundModeManager/GroundModeManagerData.h
delete mode 100644 src/boards/RIG/StateMachines/TARS1/MedianFilter.h
delete mode 100644 src/boards/RIG/StateMachines/TARS1/TARS1.cpp
delete mode 100644 src/boards/RIG/StateMachines/TARS1/TARS1.h
delete mode 100644 src/boards/RIG/StateMachines/TARS1/TARS1Data.h
delete mode 100644 src/boards/RIG/StatesMonitor/StatesMonitor.cpp
delete mode 100644 src/boards/RIG/StatesMonitor/StatesMonitor.h
delete mode 100644 src/boards/RIG/TMRepository/TMRepository.cpp
delete mode 100644 src/boards/RIG/TMRepository/TMRepository.h
delete mode 100644 src/entrypoints/RIG/rig-entry.cpp
delete mode 100644 src/scripts/logdecoder/RIG/Makefile
delete mode 100644 src/scripts/logdecoder/RIG/logdecoder.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 85cd5f85a..ba99e25e2 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 b66664234..68d981a4b 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 c0f1f7223..000000000
--- 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 3d941ddd8..000000000
--- 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 a233b1633..000000000
--- 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 8f8eff0cd..000000000
--- 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 f2d878112..000000000
--- 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 27a4fd086..000000000
--- 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 927fd6c1f..000000000
--- 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 c11a3ac23..000000000
--- 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 be4ab08bd..000000000
--- 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 56f0feb85..000000000
--- 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 bf32a6a5f..000000000
--- 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 c7e69b7a3..000000000
--- 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 f143eea9e..000000000
--- 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 7ab25b2ae..000000000
--- 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 be5a3907b..000000000
--- 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 37d3eeefe..000000000
--- 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 a6031a305..000000000
--- 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 bf3be8a30..000000000
--- 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 df4b7849d..000000000
--- 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 464f702fe..000000000
--- 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 6628bf0aa..000000000
--- 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 96ecbd264..000000000
--- 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 de7b1742b..000000000
--- 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 94f7f21e6..000000000
--- 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 a5620f6b0..000000000
--- 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 b7178a808..000000000
--- 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 b7cbd259c..000000000
--- 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 83cad4fd5..000000000
--- 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 3fa5d1d89..000000000
--- 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 3ce3da685..000000000
--- 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 32c287881..000000000
--- 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 7f4d62f68..000000000
--- 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 58ecc23fb..000000000
--- 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 e14988eac..000000000
--- 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 00eb41ad7..000000000
--- 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 6bbaf34fc..000000000
--- 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 8d9c602b1..000000000
--- 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;
-}
--
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