From 9073b8e442ee5ff87bc352b76960bbecfe300004 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Wed, 16 Apr 2025 19:08:33 +0200
Subject: [PATCH] Introduce separate events for starting various TARS variants
---
src/RIGv2/Radio/Radio.cpp | 22 ++++++++++++++++---
.../GroundModeManager/GroundModeManager.cpp | 18 +++++++++++++++
src/RIGv2/StateMachines/TARS1/TARS1.cpp | 5 +++--
src/RIGv2/StateMachines/TARS3/TARS3.cpp | 4 ++--
src/common/Events.h | 8 +++++--
5 files changed, 48 insertions(+), 9 deletions(-)
diff --git a/src/RIGv2/Radio/Radio.cpp b/src/RIGv2/Radio/Radio.cpp
index df959b032..296f7f538 100644
--- a/src/RIGv2/Radio/Radio.cpp
+++ b/src/RIGv2/Radio/Radio.cpp
@@ -1014,11 +1014,19 @@ void Radio::handleConrigState(const mavlink_message_t& msg)
lastManualActuation = currentTime;
}
- // TODO: tars3
+ // TODO: add a way to start TARS1
+
if (BUTTON_PRESSED(tars3_btn))
{
- // The TARS switch was pressed
- EventBroker::getInstance().post(MOTOR_START_TARS, TOPIC_TARS);
+ // The TARS lever was put in the TARS3 position
+ EventBroker::getInstance().post(MOTOR_START_TARS3, TOPIC_TMTC);
+ lastManualActuation = currentTime;
+ }
+
+ if (BUTTON_PRESSED(tars3m_btn))
+ {
+ // The TARS lever was put in the TARS3M position
+ EventBroker::getInstance().post(MOTOR_START_TARS3M, TOPIC_TMTC);
lastManualActuation = currentTime;
}
@@ -1039,6 +1047,14 @@ void Radio::handleConrigState(const mavlink_message_t& msg)
}
}
+ if (lastConrigState.tars3_btn == 1 && state.tars3_btn == 0 ||
+ lastConrigState.tars3m_btn == 1 && state.tars3m_btn == 0)
+ {
+ // The TARS lever was put in the OFF position
+ EventBroker::getInstance().post(MOTOR_STOP_TARS, TOPIC_TARS);
+ lastManualActuation = currentTime;
+ }
+
// Special case for disarming, that can be done bypassing the timeout
if (lastConrigState.arm_switch == 1 && state.arm_switch == 0)
{
diff --git a/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp b/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp
index 48eb6e201..5816a4f47 100644
--- a/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp
+++ b/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp
@@ -223,6 +223,24 @@ State GroundModeManager::state_disarmed(const Event& event)
return HANDLED;
}
+ case MOTOR_START_TARS1:
+ {
+ EventBroker::getInstance().post(MOTOR_START_TARS1, TOPIC_TARS);
+ return HANDLED;
+ }
+
+ case MOTOR_START_TARS3:
+ {
+ EventBroker::getInstance().post(MOTOR_START_TARS3, TOPIC_TARS);
+ return HANDLED;
+ }
+
+ case MOTOR_START_TARS3M:
+ {
+ EventBroker::getInstance().post(MOTOR_START_TARS3M, TOPIC_TARS);
+ return HANDLED;
+ }
+
default:
{
return UNHANDLED;
diff --git a/src/RIGv2/StateMachines/TARS1/TARS1.cpp b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
index d4c66dca7..15286c59d 100644
--- a/src/RIGv2/StateMachines/TARS1/TARS1.cpp
+++ b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
@@ -74,7 +74,7 @@ void TARS1::state_ready(const Event& event)
break;
}
- case MOTOR_START_TARS:
+ case MOTOR_START_TARS1:
{
transition(&TARS1::state_refueling);
break;
@@ -239,7 +239,7 @@ void TARS1::state_refueling(const Event& event)
break;
}
- case MOTOR_START_TARS:
+ case MOTOR_STOP_TARS:
{
LOG_INFO(logger, "TARS manual stop");
logAction(Tars1ActionType::MANUAL_STOP);
@@ -249,6 +249,7 @@ void TARS1::state_refueling(const Event& event)
// Disable next event
EventBroker::getInstance().removeDelayed(nextDelayedEventId);
transition(&TARS1::state_ready);
+ break;
}
}
}
diff --git a/src/RIGv2/StateMachines/TARS3/TARS3.cpp b/src/RIGv2/StateMachines/TARS3/TARS3.cpp
index 5fe644731..942bba7e8 100644
--- a/src/RIGv2/StateMachines/TARS3/TARS3.cpp
+++ b/src/RIGv2/StateMachines/TARS3/TARS3.cpp
@@ -116,7 +116,7 @@ State TARS3::Ready(const Event& event)
return HANDLED;
}
- case MOTOR_START_TARS:
+ case MOTOR_START_TARS3:
{
return transition(&TARS3::Refueling);
}
@@ -173,12 +173,12 @@ State TARS3::Refueling(const Event& event)
LOG_INFO(logger, "TARS3 stopped because of manual stop");
logAction(Tars3Action::MANUAL_STOP);
+ actuators->closeAllServos();
return transition(&TARS3::Ready);
}
case EV_EXIT:
{
- actuators->closeAllServos();
EventBroker::getInstance().removeDelayed(delayedEventId);
return HANDLED;
diff --git a/src/common/Events.h b/src/common/Events.h
index 5e02ec862..61a4f4363 100644
--- a/src/common/Events.h
+++ b/src/common/Events.h
@@ -142,7 +142,9 @@ enum Events : uint8_t
TMTC_ARP_CALIBRATE,
TMTC_ARP_ENTER_TEST_MODE,
TMTC_ARP_EXIT_TEST_MODE,
- MOTOR_START_TARS,
+ MOTOR_START_TARS1,
+ MOTOR_START_TARS3,
+ MOTOR_START_TARS3M,
MOTOR_STOP_TARS,
MOTOR_OX_FIL_OPEN,
MOTOR_OX_FIL_CLOSE,
@@ -291,7 +293,9 @@ inline std::string getEventString(uint8_t event)
{TMTC_ARP_FOLLOW, "TMTC_ARP_FOLLOW"},
{TMTC_ARP_ENTER_TEST_MODE, "TMTC_ARP_ENTER_TEST_MODE"},
{TMTC_ARP_EXIT_TEST_MODE, "TMTC_ARP_EXIT_TEST_MODE"},
- {MOTOR_START_TARS, "MOTOR_START_TARS"},
+ {MOTOR_START_TARS1, "MOTOR_START_TARS1"},
+ {MOTOR_START_TARS3, "MOTOR_START_TARS3"},
+ {MOTOR_START_TARS3M, "MOTOR_START_TARS3M"},
{MOTOR_STOP_TARS, "MOTOR_STOP_TARS"},
{MOTOR_OX_FIL_OPEN, "MOTOR_OX_FIL_OPEN"},
{MOTOR_OX_FIL_CLOSE, "MOTOR_OX_FIL_CLOSE"},
--
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