From 7b5109851b8919f8f372f0b11557cc120af7ee59 Mon Sep 17 00:00:00 2001
From: Angelo Prete <angelo.prete@skywarder.eu>
Date: Thu, 9 May 2024 08:47:38 +0200
Subject: [PATCH] [Parafoil] Removed altitude trigger
---
.../Main/AltitudeTrigger/AltitudeTrigger.cpp | 101 ------------------
.../Main/AltitudeTrigger/AltitudeTrigger.h | 81 --------------
src/entrypoints/Main/main-entry.cpp | 15 ---
3 files changed, 197 deletions(-)
delete mode 100644 src/boards/Main/AltitudeTrigger/AltitudeTrigger.cpp
delete mode 100644 src/boards/Main/AltitudeTrigger/AltitudeTrigger.h
diff --git a/src/boards/Main/AltitudeTrigger/AltitudeTrigger.cpp b/src/boards/Main/AltitudeTrigger/AltitudeTrigger.cpp
deleted file mode 100644
index f2fce72bd..000000000
--- a/src/boards/Main/AltitudeTrigger/AltitudeTrigger.cpp
+++ /dev/null
@@ -1,101 +0,0 @@
-/* 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
diff --git a/src/boards/Main/AltitudeTrigger/AltitudeTrigger.h b/src/boards/Main/AltitudeTrigger/AltitudeTrigger.h
deleted file mode 100644
index 0c4e22aba..000000000
--- a/src/boards/Main/AltitudeTrigger/AltitudeTrigger.h
+++ /dev/null
@@ -1,81 +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 <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
diff --git a/src/entrypoints/Main/main-entry.cpp b/src/entrypoints/Main/main-entry.cpp
index c1ece383a..57276b3e3 100644
--- a/src/entrypoints/Main/main-entry.cpp
+++ b/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;
--
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