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Add flight computer compatablility to master branch #253

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2406f1a
enabled flight computer parser
ejakovm May 6, 2022
8373d46
Changed packet size to receive data, need to regenerate FC telem files
ejakovm Jun 27, 2022
cc71a90
Regenerated flight computer parser
ejakovm Jun 30, 2022
26cc32d
add signal noise ratio to telem
ejakovm Jul 1, 2022
b30f5ea
Increased gps accuracy
ejakovm Jul 12, 2022
c14fe7c
Fixed flight computer issues
ejakovm Nov 10, 2022
d712a93
Merge branch 'flightComputerIntegration' into flight-computer-integra…
ejakovm Nov 10, 2022
eece65e
made buttons work with flight computer
ejakovm Nov 10, 2022
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72 changes: 71 additions & 1 deletion Python/board.py
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,27 @@ def __init__(self, parent, name: str):
"Abort": 6,
"Post": 7,
}
elif self.name == "Flight Computer":
self.stateMap = {
-1: "",
0: "Manual",
1: "Armed",
2: "Ascent",
3: "Drogue",
4: "Main",
5: "Touchdown",
6: "Abort",
}
self.stateNum = {
"": -1,
"Manual": 0,
"Armed": 1,
"Ascent": 2,
"Drogue": 3,
"Main": 4,
"Touchdown": 5,
"Abort": 6,
}


""" TODO fill this out when we figure out other boards' state mappings
Expand Down Expand Up @@ -493,6 +514,10 @@ def sendBoardState(self, identifier: str):
elif self.state == self.stateNum["Ignition"]:
newState = self.stateNum["Hotfire"]
# Anytime can call an abort to abort out
elif self.name == "Flight Computer":
if self.state == self.stateNum["Armed"]:
newState = self.stateNum["Ascent"] # this might need to be removed idk why we are switching to the next state client side
# Anytime can call an abort to abort out
elif identifier == "Abort":
newState = self.stateNum["Abort"]
elif identifier == "Continue":
Expand Down Expand Up @@ -546,6 +571,8 @@ def setBoardState(self, state: int):
pass
elif self.name == "Engine Controller":
pass
elif self.name == "Flight Computer":
pass
else:
print("Invalid board(" + self.name + ") somehow used in Board:setBoardState, it should never get to this point lol. State: " + str(state))
return
Expand Down Expand Up @@ -801,6 +828,49 @@ def update(self, ebatt, ibatt, state, flash, LPT, adc_rate, telem_rate, state_re
self.arm_button.setEnabled(False)
self.fire_button.setEnabled(False)
self.abort_button.setEnabled(False)
elif self.name == "Flight Computer":
if self.state == self.stateNum["Manual"]:
self.manual_button.setText("Manual")
self.manual_button.setEnabled(False)
self.arm_button.setEnabled(True)
self.fire_button.setEnabled(False)
self.abort_button.setEnabled(False)

elif self.state == self.stateNum["Armed"]:
self.manual_button.setText("Disarm")
self.manual_button.setEnabled(True)
self.arm_button.setEnabled(False)
self.fire_button.setEnabled(True)
self.abort_button.setEnabled(False)

elif self.state == self.stateNum["Ascent"]:
self.manual_button.setText("Disarm")
self.manual_button.setEnabled(False)
self.arm_button.setEnabled(False)
self.fire_button.setEnabled(False)
self.abort_button.setEnabled(True)

elif self.state == self.stateNum["Drogue"]:
self.manual_button.setText("Disarm")
self.manual_button.setEnabled(False)
self.arm_button.setEnabled(False)
self.fire_button.setEnabled(False)
self.abort_button.setEnabled(True)

elif self.state == self.stateNum["Touchdown"]:
self.manual_button.setText("Disarm")
self.manual_button.setEnabled(False)
self.arm_button.setEnabled(False)
self.fire_button.setEnabled(False)
self.abort_button.setEnabled(True)


elif self.state == self.stateNum["Abort"]:
self.manual_button.setText("Disarm")
self.manual_button.setEnabled(True)
self.arm_button.setEnabled(False)
self.fire_button.setEnabled(False)
self.abort_button.setEnabled(False)



Expand All @@ -812,7 +882,7 @@ def updateFromDataPacket(self, data_packet: dict):
if self.name == "Flight Computer":
self.update(data_packet[prefix + "e_batt"], 0, data_packet[prefix + "STATE"], False,
data_packet[prefix + "timestamp"], data_packet[prefix + "adc_rate"],
data_packet[prefix + "telem_rate"]) # no flash state yet, no i_batt
data_packet[prefix + "telem_rate"], False) # no flash state yet, no i_batt
elif self.name == "Black Box":
self.update(0, 0, data_packet[prefix + "STATE"], False, data_packet[prefix + "timestamp"],
data_packet[prefix + "adc_rate"],
Expand Down
21 changes: 18 additions & 3 deletions Python/parsers/flightCompParse.py
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Original file line number Diff line number Diff line change
@@ -1,16 +1,16 @@
### BEGIN AUTOGENERATED SECTION - MODIFICATIONS TO THIS CODE WILL BE OVERWRITTEN

### telemParse.py
### Autogenerated by firmware-libraries/SerialComms/python/telem_file_generator.py on Wed Mar 3 19:46:57 2021
### Autogenerated by firmware-libraries/SerialComms/python/telem_file_generator.py on Fri Jul 1 00:08:57 2022

import time
import struct

class FlightComputer:

def __init__(self):
self.packet_byte_size = 107
self.num_items = 51
self.packet_byte_size = 124
self.num_items = 56

self.dict = {}
self.units = {}
Expand Down Expand Up @@ -67,6 +67,11 @@ def __init__(self):
self.items[48] = 'gyro.x.avg'
self.items[49] = 'gyro.y.avg'
self.items[50] = 'gyro.z.avg'
self.items[51] = 'gps.time'
self.items[52] = 'gps.lat'
self.items[53] = 'gps.long'
self.items[54] = 'gps.alt'
self.items[55] = 'snr'

self.units[self.items[0]] = "ul"
self.units[self.items[1]] = "ul"
Expand Down Expand Up @@ -119,6 +124,11 @@ def __init__(self):
self.units[self.items[48]] = "deg/s"
self.units[self.items[49]] = "deg/s"
self.units[self.items[50]] = "deg/s"
self.units[self.items[51]] = "s"
self.units[self.items[52]] = "deg"
self.units[self.items[53]] = "deg"
self.units[self.items[54]] = "ft"
self.units[self.items[55]] = "dB"

def parse_packet(self, packet):
self.dict[self.items[0]] = int((float(struct.unpack("<B", packet[0:1])[0]))/1)
Expand Down Expand Up @@ -172,3 +182,8 @@ def parse_packet(self, packet):
self.dict[self.items[48]] = float((float(struct.unpack("<h", packet[101:103])[0]))/10)
self.dict[self.items[49]] = float((float(struct.unpack("<h", packet[103:105])[0]))/10)
self.dict[self.items[50]] = float((float(struct.unpack("<h", packet[105:107])[0]))/10)
self.dict[self.items[51]] = float((float(struct.unpack("<I", packet[107:111])[0]))/10)
self.dict[self.items[52]] = float((float(struct.unpack("<i", packet[111:115])[0]))/10000)
self.dict[self.items[53]] = float((float(struct.unpack("<i", packet[115:119])[0]))/10000)
self.dict[self.items[54]] = float((float(struct.unpack("<I", packet[119:123])[0]))/1)
self.dict[self.items[55]] = int ((float(struct.unpack("<B", packet[123:124])[0]))/1)
8 changes: 6 additions & 2 deletions Python/s2Interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,8 @@ def __init__(self, ser=serial.Serial(port=None)):
self.ser = ser
self.ports_box = []
self.serial_name = ""
self.board_parser = [GSEController(), None, EngineController(), PressurizationController(), None, None] # Maps board to associated packet parser
self.calibration_parser = [GSEControllerCalibrations(), None, EngineControllerCalibrations(), PressurizationControllerCalibrations(), None, None]
self.board_parser = [GSEController(), FlightComputer(), EngineController(), FlightComputer(), None, None] # Maps board to associated packet parser
self.calibration_parser = [GSEControllerCalibrations(), None, EngineControllerCalibrations(), None, None, None]
self.helper = _S2_InterfaceAutogen()
self.last_raw_packet = None

Expand Down Expand Up @@ -120,6 +120,7 @@ def parse_serial(self):
packet = self.ser.read_until(b'\x00')
self.last_raw_packet = packet
return self.parse_packet(packet)

except Exception as e:
#traceback.print_exc()
pass
Expand All @@ -132,9 +133,12 @@ def parse_packet(self, packet):
packet_type = self.get_packet_type_from_packet(packet)
board_addr = self.get_board_addr_from_packet(packet)
#print(packet)
#print(packet_type)
try:
# Limit valid packet sizes to mitigate data corruption
# Flash binary parser packet length is equal to packet_byte_size, telemetry packet length is packet_byte_size+1
#print(self.board_parser[board_addr].packet_byte_size)
#print(len(packet))
if packet_type == 0 and ((len(packet) == self.board_parser[board_addr].packet_byte_size) or (len(packet) == self.board_parser[board_addr].packet_byte_size + 1)):
#print("here")
self.board_parser[board_addr].parse_packet(packet)
Expand Down
2 changes: 1 addition & 1 deletion Python/server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -823,7 +823,7 @@ def update(self):
packet_addr, packet_type = self.interface.parse_serial() # returns origin address
# packet_addr = -1
if packet_addr != -1 and packet_addr != -2:
# print("PARSER WORKED")
#print("PARSER WORKED")
self.is_actively_receiving = True
self.dataframe["error_msg"] = "'Norminal' - Jon Insprucker"

Expand Down
2 changes: 1 addition & 1 deletion Python/solenoid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -311,6 +311,6 @@ def updateFromDataPacket(self, data_packet: dict):
channel_name = board_prefix + "vlv" + str(self.channel)
state = data_packet[channel_name + ".en"]
voltage = data_packet[channel_name + ".e"]
current = data_packet[channel_name + ".i"]
current = data_packet[channel_name + ".i"] if (channel_name + ".i") in data_packet else 0
self.setState(state, voltage, current)