[Parafoil] Removed altitude trigger

src/boards/Main/AltitudeTrigger/AltitudeTrigger.cpp

-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro, Federico Mandelli
- *
- * 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 "AltitudeTrigger.h"
-
-#include <Main/BoardScheduler.h>
-#include <Main/Configs/WingConfig.h>
-#include <Main/StateMachines/NASController/NASController.h>
-#include <common/Events.h>
-#include <events/EventBroker.h>
-
-using namespace Boardcore;
-using namespace Common;
-
-namespace Main
-{
-
-AltitudeTrigger::AltitudeTrigger(TaskScheduler *sched)
-    : running(false), confidence(0),
-      deploymentAltitude(WingConfig::ALTITUDE_TRIGGER_DEPLOYMENT_ALTITUDE),
-      scheduler(sched)
-{
-}
-
-bool AltitudeTrigger::start()
-{
-    return (scheduler->addTask(std::bind(&AltitudeTrigger::update, this),
-                               WingConfig::ALTITUDE_TRIGGER_PERIOD) != 0);
-}
-
-void AltitudeTrigger::enable()
-{
-    miosix::Lock<miosix::FastMutex> l(mutex);
-    confidence = 0;
-    running    = true;
-}
-
-void AltitudeTrigger::setDeploymentAltitude(float altitude)
-{
-    miosix::Lock<miosix::FastMutex> l(mutex);
-    deploymentAltitude = altitude;
-}
-
-void AltitudeTrigger::disable()
-{
-    miosix::Lock<miosix::FastMutex> l(mutex);
-    running = false;
-}
-
-bool AltitudeTrigger::isActive()
-{
-    miosix::Lock<miosix::FastMutex> l(mutex);
-    return running;
-}
-
-void AltitudeTrigger::update()
-{
-    miosix::Lock<miosix::FastMutex> l(mutex);
-    if (running)
-    {
-        // We multiply by -1 to have a positive height
-        float height =
-            -ModuleManager::getInstance().get<NASController>()->getNasState().d;
-
-        if (height < WingConfig::ALTITUDE_TRIGGER_DEPLOYMENT_ALTITUDE)
-        {
-            confidence++;
-        }
-        else
-        {
-            confidence = 0;
-        }
-        if (confidence >= WingConfig ::ALTITUDE_TRIGGER_CONFIDENCE)
-        {
-            confidence = 0;
-            EventBroker::getInstance().post(ALTITUDE_TRIGGER_ALTITUDE_REACHED,
-                                            TOPIC_FLIGHT);
-            running = false;
-        }
-    }
-}
-}  // namespace Main

src/boards/Main/AltitudeTrigger/AltitudeTrigger.h

-/* 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 <Main/BoardScheduler.h>
-
-#include <atomic>
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace Main
-{
-
-class AltitudeTrigger : public Boardcore::Module
-{
-public:
-    explicit AltitudeTrigger(Boardcore::TaskScheduler *sched);
-
-    /**
-     * @brief Adds the update() task to the task scheduler.
-     */
-    bool start();
-
-    /**
-     * @brief Enable the AltitudeTrigger.
-     */
-    void enable();
-
-    /**
-     * @brief Disable the AltitudeTrigger.
-     */
-    void disable();
-
-    /**
-     * @return The status of the AltitudeTrigger
-     */
-    bool isActive();
-
-    /**
-     * @return Set the altitude of the AltitudeTrigger
-     */
-    void setDeploymentAltitude(float altitude);
-
-private:
-    // Update method that posts a FLIGHT_WING_ALT_PASSED when the correct
-    // altitude is reached
-    void update();
-
-    bool running;
-
-    // Number of times that the algorithm detects to be below the fixed
-    // altitude
-    int confidence;
-
-    float deploymentAltitude;
-
-    miosix::FastMutex mutex;
-
-    Boardcore::TaskScheduler *scheduler = nullptr;
-};
-
-}  // namespace Main

src/entrypoints/Main/main-entry.cpp

@@ -20,7 +20,6 @@
  * THE SOFTWARE.
  */
 
-#include <Main/AltitudeTrigger/AltitudeTrigger.h>
 #include <Main/BoardScheduler.h>
 #include <Main/Buses.h>
 #include <Main/Configs/WingConfig.h>
@@ -71,8 +70,6 @@ int main()
 
     // Other critical components (Max - 2)
     Radio* radio = new Radio(scheduler->getScheduler(miosix::PRIORITY_MAX - 2));
-    AltitudeTrigger* altTrigger =
-        new AltitudeTrigger(scheduler->getScheduler(miosix::PRIORITY_MAX - 2));
 
     // Components without a scheduler
     TMRepository* tmRepo   = new TMRepository();
@@ -122,12 +119,6 @@ int main()
         LOG_ERR(logger, "Error inserting the TMRepository module");
     }
 
-    if (!modules.insert<AltitudeTrigger>(altTrigger))
-    {
-        initResult = false;
-        LOG_ERR(logger, "Error inserting the Altitude Trigger module");
-    }
-
     if (!modules.insert<PinHandler>(pinHandler))
     {
         initResult = false;
@@ -175,12 +166,6 @@ int main()
         LOG_ERR(logger, "Error starting the Radio module");
     }
 
-    if (!modules.get<AltitudeTrigger>()->start())
-    {
-        initResult = false;
-        LOG_ERR(logger, "Error starting the AltitudeTrigger module");
-    }
-
     if (!modules.get<PinHandler>()->start())
     {
         initResult = false;