eive/eive-obsw
eive/eive-obsw
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bugfix for autonomous handling

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This commit is contained in:
Robin Müller 2022-10-14 14:17:20 +02:00
parent 69f34acbd2
commit 5d721706f3
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GPG Key ID: 11D4952C8CCEF814
2 changed files with 46 additions and 48 deletions
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2
common/config/eive/definitions.h
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@ -41,7 +41,7 @@ static constexpr uint32_t SA_DEPL_WAIT_TIME_SECS = 45 * 60;
// HW constraints (current limit) mean that the GPIO channels need to be switched on in alternation // HW constraints (current limit) mean that the GPIO channels need to be switched on in alternation
static constexpr uint32_t SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS = 5; static constexpr uint32_t SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS = 5;
// Maximum allowed burn time allowed by the software. // Maximum allowed burn time allowed by the software.
static constexpr uint32_t SA_DEPL_MAX_BURN_TIME = 120; static constexpr uint32_t SA_DEPL_MAX_BURN_TIME = 180;
} // namespace config } // namespace config

92
mission/devices/SolarArrayDeploymentHandler.cpp
View File

@ -89,56 +89,54 @@ bool SolarArrayDeploymentHandler::autonomousDeplForFile(const char* filename, bo
bool stateSwitch = false; bool stateSwitch = false;
uint32_t secsSinceBoot = 0; uint32_t secsSinceBoot = 0;
while (std::getline(file, line)) { while (std::getline(file, line)) {
std::istringstream iss(line);
if (lineNum == 0) { if (lineNum == 0) {
std::istringstream iss(line); iss >> word;
if (lineNum == 0) { if (word.find("phase:") == string::npos) {
iss >> word; return false;
if (word.find("phase:") == string::npos) { }
return false; iss >> word;
} if (word.find(PHASE_INIT_STR) != string::npos) {
iss >> word; deplState = AutonomousDeplState::INIT;
if (word.find(PHASE_INIT_STR) != string::npos) { } else if (word.find(PHASE_FIRST_BURN_STR) != string::npos) {
deplState = AutonomousDeplState::INIT; deplState = AutonomousDeplState::FIRST_BURN;
} else if (word.find(PHASE_FIRST_BURN_STR) != string::npos) { } else if (word.find(PHASE_WAIT_STR) != string::npos) {
deplState = AutonomousDeplState::FIRST_BURN; deplState = AutonomousDeplState::WAIT;
} else if (word.find(PHASE_WAIT_STR) != string::npos) { } else if (word.find(PHASE_SECOND_BURN_STR) != string::npos) {
deplState = AutonomousDeplState::WAIT; deplState = AutonomousDeplState::SECOND_BURN;
} else if (word.find(PHASE_SECOND_BURN_STR) != string::npos) { } else if (word.find(PHASE_DONE) != string::npos) {
deplState = AutonomousDeplState::SECOND_BURN; deplState = AutonomousDeplState::DONE;
} else if (word.find(PHASE_DONE) != string::npos) { } else {
deplState = AutonomousDeplState::DONE; return false;
} else { }
return false; } else if (lineNum == 1) {
} iss >> word;
} else if (lineNum == 1) { if (word.find("secs_since_start:") == string::npos) {
iss >> word; return false;
if (word.find("secs_since_start:") == string::npos) { }
return false;
}
iss >> secsSinceBoot; iss >> secsSinceBoot;
if (not initUptime) { if (not initUptime) {
initUptime = secsSinceBoot; initUptime = secsSinceBoot;
} }
if (iss.bad()) { if (iss.bad()) {
return false; return false;
} }
auto switchCheck = [&](AutonomousDeplState expected) { auto switchCheck = [&](AutonomousDeplState expected) {
if (deplState != expected) { if (deplState != expected) {
deplState = expected; deplState = expected;
stateSwitch = true; stateSwitch = true;
}
};
if ((secsSinceBoot > FIRST_BURN_START_TIME) and (secsSinceBoot < FIRST_BURN_END_TIME)) {
switchCheck(AutonomousDeplState::FIRST_BURN);
} else if ((secsSinceBoot > WAIT_START_TIME) and (secsSinceBoot < WAIT_END_TIME)) {
switchCheck(AutonomousDeplState::WAIT);
} else if ((secsSinceBoot > SECOND_BURN_START_TIME) and
(secsSinceBoot < SECOND_BURN_END_TIME)) {
switchCheck(AutonomousDeplState::SECOND_BURN);
} else if (secsSinceBoot > SECOND_BURN_END_TIME) {
switchCheck(AutonomousDeplState::DONE);
} }
};
if ((secsSinceBoot > FIRST_BURN_START_TIME) and (secsSinceBoot < FIRST_BURN_END_TIME)) {
switchCheck(AutonomousDeplState::FIRST_BURN);
} else if ((secsSinceBoot > WAIT_START_TIME) and (secsSinceBoot < WAIT_END_TIME)) {
switchCheck(AutonomousDeplState::WAIT);
} else if ((secsSinceBoot > SECOND_BURN_START_TIME) and
(secsSinceBoot < SECOND_BURN_END_TIME)) {
switchCheck(AutonomousDeplState::SECOND_BURN);
} else if (secsSinceBoot > SECOND_BURN_END_TIME) {
switchCheck(AutonomousDeplState::DONE);
} }
} }
lineNum++; lineNum++;