[Payload] Added PinHandler for nosecone detach pin

cmake/dependencies.cmake

@@ -64,6 +64,7 @@ set(PAYLOAD_SOURCES
     src/boards/Payload/WingControl/WingServo.cpp
     src/boards/Payload/Main/Sensors.cpp
     src/boards/Payload/Main/Radio.cpp
+    src/boards/Payload/PinHandler/PinHandler.cpp
 )
 set(ADA_SOURCES
     src/boards/DeathStack/ApogeeDetectionAlgorithm/ADAAlgorithm.cpp

src/boards/Payload/PayloadBoard.h

@@ -30,8 +30,8 @@
 #include <Payload/Main/Bus.h>
 #include <Payload/Main/Radio.h>
 #include <Payload/Main/Sensors.h>
-//#include <Main/StateMachines.h>
-//#include <PinHandler/PinHandler.h>
+//#include <Payload/Main/StateMachines.h>
+#include <Payload/PinHandler/PinHandler.h>
 #include <System/StackLogger.h>
 #include <System/TaskID.h>
 #include <events/EventBroker.h>
@@ -76,7 +76,7 @@ public:
     Radio* radio;
     Actuators* actuators;
 
-    //PinHandler* pin_handler;
+    PinHandler* pin_handler;
 
     TaskScheduler* scheduler;
 
@@ -104,13 +104,13 @@ public:
         {
             LOG_ERR(log, "Error starting state machines");
             status.setError(&PayloadStatus::state_machines);
-        }
+        }*/
 
         if (!pin_handler->start())
         {
             LOG_ERR(log, "Error starting PinObserver");
             status.setError(&PayloadStatus::pin_obs);
-        }*/
+        }
 
 #ifdef DEBUG
         injector->start();
@@ -176,6 +176,8 @@ private:
         sensors   = new Sensors(*bus->spi1, scheduler);
         actuators = new Actuators();
 
+        pin_handler = new PinHandler();
+
 #ifdef DEBUG
         injector = new EventInjector();
 #endif

src/boards/Payload/PinHandler/PinHandler.cpp

+/* Copyright (c) 2019-2021 Skyward Experimental Rocketry
+ * Authors: Luca Erbetta, Luca Conterio
+ *
+ * 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 <LoggerService/LoggerService.h>
+#include <Payload/PinHandler/PinHandler.h>
+#include <diagnostic/PrintLogger.h>
+#include <events/EventBroker.h>
+#include <events/Events.h>
+//#include <Payload/PayloadBoard.h>
+
+#include <functional>
+
+using std::bind;
+using namespace Boardcore;
+
+namespace PayloadBoard
+{
+
+PinHandler::PinHandler()
+    : pin_obs(PIN_POLL_INTERVAL) //, logger(LoggerService::getInstance())
+{
+    // Used for _1, _2. See std::bind cpp reference
+    using namespace std::placeholders;
+
+    // Noseconse pin callbacks registration
+    PinObserver::OnTransitionCallback nc_transition_cb =
+        bind(&PinHandler::onNCPinTransition, this, _1, _2);
+
+    PinObserver::OnStateChangeCallback nc_statechange_cb =
+        bind(&PinHandler::onNCPinStateChange, this, _1, _2, _3);
+
+    pin_obs.observePin(nosecone_pin.getPort(), nosecone_pin.getNumber(),
+                       TRIGGER_NC_DETACH_PIN, nc_transition_cb,
+                       THRESHOLD_NC_DETACH_PIN, nc_statechange_cb);
+}
+
+void PinHandler::onNCPinTransition(unsigned int p, unsigned char n)
+{
+    UNUSED(p);
+    UNUSED(n);
+    sEventBroker->post(Event{EV_NC_DETACHED}, TOPIC_FLIGHT_EVENTS);
+
+    LOG_INFO(log, "Nosecone detached!");
+
+    status_pin_nosecone.last_detection_time = TimestampTimer::getTimestamp();
+    //logger->log(status_pin_nosecone);
+}
+
+void PinHandler::onNCPinStateChange(unsigned int p, unsigned char n, int state)
+{
+    UNUSED(p);
+    UNUSED(n);
+
+    status_pin_nosecone.state             = (uint8_t)state;
+    status_pin_nosecone.last_state_change = TimestampTimer::getTimestamp();
+    status_pin_nosecone.num_state_changes += 1;
+
+    LOG_INFO(log, "Nosecone pin state change at time {}: new state = {}",
+             status_pin_nosecone.last_state_change, status_pin_nosecone.state);
+
+    //logger->log(status_pin_nosecone);
+}
+
+}  // namespace PayloadBoard
\ No newline at end of file

src/boards/Payload/PinHandler/PinHandler.h

+/* Copyright (c) 2019-2021 Skyward Experimental Rocketry
+ * Authors: Luca Erbetta, Luca Conterio
+ *
+ * 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 <Payload/PinHandler/PinHandlerData.h>
+#include <Payload/configs/PinHandlerConfig.h>
+#include <diagnostic/PrintLogger.h>
+#include <utils/PinObserver.h>
+
+using namespace Boardcore;
+
+namespace PayloadBoard
+{
+
+/**
+ * @brief Forward dec.
+ */
+//class LoggerService;
+
+/**
+ * @brief This class contains the handlers for both the launch pin (umbilical)
+ * and the nosecone detachment pin.
+ *
+ * It uses boardcore's PinObserver to bind these functions to the GPIO pins.
+ * The handlers post an event on the EventBroker.
+ */
+class PinHandler
+{
+public:
+    PinHandler();
+
+    /**
+     * @brief Starts the pin observer.
+     *
+     */
+    bool start() { return pin_obs.start(); }
+
+    /**
+     * @brief Stops the pin observer.
+     *
+     */
+    void stop() { pin_obs.stop(); }
+
+    /**
+     * @brief Function called by the pinobserver when a nosecone pin detachment
+     * is detected.
+     *
+     * @param p
+     * @param n
+     */
+    void onNCPinTransition(unsigned int p, unsigned char n);
+    
+    void onNCPinStateChange(unsigned int p, unsigned char n, int state);
+
+private:
+    PinStatus status_pin_nosecone{ObservedPin::NOSECONE};
+
+    PinObserver pin_obs;
+
+    //LoggerService* logger;
+    PrintLogger log = Logging::getLogger("deathstack.pinhandler");
+};
+
+}  // namespace PayloadBoard
\ No newline at end of file

src/boards/Payload/PinHandler/PinHandlerData.h

+/* Copyright (c) 2019-2021 Skyward Experimental Rocketry
+ * Authors: Luca Erbetta, Luca Conterio
+ *
+ * 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 <cstdint>
+#include <ostream>
+
+namespace PayloadBoard
+{
+
+enum class ObservedPin : uint8_t
+{
+    NOSECONE  = 0
+};
+
+/**
+ * @brief Struct represeting the status of an observed pin.
+ *
+ */
+struct PinStatus
+{
+    ObservedPin pin;
+
+    uint64_t last_state_change     = 0;  // Last time the pin changed state
+    uint8_t state                  = 0;  // Current state of the pin
+    unsigned int num_state_changes = 0;
+
+    uint64_t last_detection_time = 0;  // When a transition is detected
+
+    PinStatus(){};
+    PinStatus(ObservedPin pin) : pin(pin) {}
+
+    static std::string header()
+    {
+        return "pin,last_state_change,state,num_state_changes,last_detection_"
+               "time\n";
+    }
+
+    void print(std::ostream& os) const
+    {
+        os << (int)pin << "," << last_state_change << "," << (int)state << ","
+           << num_state_changes << "," << last_detection_time << "\n";
+    }
+};
+
+}  // namespace PayloadBoard

src/boards/Payload/configs/PinHandlerConfig.h

+/* Copyright (c) 2019-2021 Skyward Experimental Rocketry
+ * Authors: Luca Erbetta, Luca Conterio
+ *
+ * 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 <interfaces-impl/hwmapping.h>
+#include <miosix.h>
+#include <utils/PinObserver.h>
+
+using namespace Boardcore;
+
+namespace PayloadBoard
+{
+
+static const unsigned int PIN_POLL_INTERVAL = 10;  // ms
+
+// // Launch pin config
+// static const GpioPin launch_pin(miosix::inputs::lp_dtch::getPin());
+// static const PinObserver::Transition TRIGGER_LAUNCH_PIN =
+//     PinObserver::Transition::FALLING_EDGE;
+// // How many consecutive times the launch pin should be detected as detached
+// // before triggering a launch event.
+// static const unsigned int THRESHOLD_LAUNCH_PIN = 10;
+
+// Nosecone detach pin config
+static const GpioPin nosecone_pin(miosix::inputs::nc_dtch::getPin());
+static const PinObserver::Transition TRIGGER_NC_DETACH_PIN =
+    PinObserver::Transition::FALLING_EDGE;
+// How many consecutive times the nosecone pin should be detected as detached
+// before triggering a nosecone detach event.
+static const unsigned int THRESHOLD_NC_DETACH_PIN = 10;
+
+// // Dpl servo actuation pin config
+// static const GpioPin dpl_servo_pin(miosix::inputs::expulsion_in::getPin());
+// static const PinObserver::Transition TRIGGER_DPL_SERVO_PIN =
+//     PinObserver::Transition::RISING_EDGE;
+// // How many consecutive times the deployment servo pin should be detected as
+// // detached before triggering a nosecone detach event.
+// static const unsigned int THRESHOLD_DPL_SERVO_PIN = 10;
+
+}  // namespace PayloadBoard
\ No newline at end of file