async def batteryCheck(self):
eps = EPS()
while True: #Checking the battery voltage to see if it's ready for deployment, if it is too low for too long --> SAFE
try:
BusVoltage = eps.getBusVoltage()
#NOTE: This line is for testing! DO NOT
if (BusVoltage < getBusVoltageMin) or (BusVoltage >
getBusVoltageMax):
raise unexpectedValue
except Exception as e:
BusVoltage = 4.18
print("Failed to retrieve BusVoltage, got", BusVoltage,
"instead. Received error: ", repr(e),
getframeinfo(currentframe()).filename,
getframeinfo(currentframe()).lineno)
if (BusVoltage > self.thresholdVoltage):
print('Battery above threshold voltage for deployment')
self.batteryStatusOk = True
await asyncio.sleep(5)
else:
self.batteryStatusOk = False
#Wait 5 more seconds
await asyncio.sleep(5) #Check battery every 5 seconds
async def executeFlightLogic(
): # Open the file save object, start TXISR, camera obj, and start Boot Mode data collection
baseFile = open("/home/pi/lastBase.txt")
codeBase = int(baseFile.read())
cameraObj = Camera()
# Variable setup
delay = 35 * 60 # 35 minute delay #TODO: set this delay to 35 min
antennaVoltageCheckWait = 22 * 60 * 60 # 22 hour wait for the voltage to increase past the threshold. This is arbitrary for now
boot = True
saveObject = saveTofiles.save()
# startTXISR(save)
ttncData = getDriverData.TTNCData(saveObject)
attitudeData = getDriverData.AttitudeData(saveObject)
# safeModeObject = safe.safe(saveObject)
transmitObject = Transmitting(codeBase, cameraObj)
packet = packetProcessing(transmitObject, cameraObj)
heartBeatObj = heart_beat()
antennaDoorObj = antennaDoor()
print(
'Starting data collection') #Setting up Background tasks for BOOT mode
tasks = []
tasks.append(asyncio.create_task(
heartBeatObj.heartBeatRun())) # starting heart beat
tasks.append(
asyncio.create_task(pythonInterrupt.interrupt(
transmitObject, packet))) # starting rx monitoring
tasks.append(asyncio.create_task(
ttncData.collectTTNCData(0))) # Boot Mode is classified as 0
tasks.append(asyncio.create_task(
attitudeData.collectAttitudeData())) # collecting attitude data
# Initialize all mission mode objects
# NOTE: the comms-tx is the only exception to this rule as it is to be handled differently than other mission modes
# NOTE: Boot Mode is defined and executed in this document, instead of a separate mission mode
# safeModeObject was deleted below in the init parameters after saveObject
antennaDeploy = antennaMode(saveObject, transmitObject, packet)
preBoomDeploy = preBoomMode(saveObject, transmitObject, packet)
postBoomDeploy = postBoomMode(saveObject, transmitObject, packet)
boomDeploy = boomMode(saveObject, transmitObject, cameraObj, packet)
# Check the boot record if it doesn't exist recreate it
if (readData() == (None, None, None)):
print('Files are empty')
bootCount, antennaDeployed, lastMode = 0, False, 0
# otherwise save the last mission mode
else:
bootCount, antennaDeployed, lastMode = readData()
bootCount += 1 # Increment boot count
# save data
recordData(bootCount, antennaDeployed, lastMode)
if lastMode not in range(0, 7): #Mission Mode invalid
lastMode = 0
antennaDeployed = False
recordData(bootCount, antennaDeployed, lastMode)
# This is the implementation of the BOOT mode logic.
if not antennaDeployed: # First, sleep for 35 minutes
print('Antenna is undeployed, waiting 35 minutes')
await asyncio.sleep(delay) # Sleep for 35 minutes
while (transmitObject.isRunning()):
await asyncio.sleep(60) #sleep if a transmission is running
print("Moving on to check antenna door status")
#deploy the antenna, if it fails we will do nothing
eps = EPS()
voltageCount = 0
try:
while True:
try:
BusVoltage = eps.getBusVoltage()
except:
#if we fail to check the bus voltage we will set it to the max value plus one
BusVoltage = 5.1 + 1
if antennaDeployed == True:
break
elif (not antennaDeployed) and (BusVoltage > 3.75):
antennaDoorObj.deployAntennaMain(
) #wait for the antenna to deploy
await asyncio.sleep(300)
break
elif ((antennaVoltageCheckWait / 10) < voltageCount):
antennaDoorObj.deployAntennaMain(
) #wait for the antenna to deploy
await asyncio.sleep(300)
break
else:
voltageCount += 1
await asyncio.sleep(10)
except:
print("____Failed to deploy the antenna_____")
# status is set True if all 4 doors are deployed, else it is False
try:
status = antennaDoorObj.readDoorStatus()
except:
status = False
print("Failed to check antenna door status")
if antennaDeployed == True:
pass
elif status == True:
antennaDeployed = True
else:
antennaDeployed = False
recordData(bootCount, antennaDeployed, lastMode)
try: # Cancels attitude collection tasks
for t in tasks:
t.cancel()
print('Successfully cancelled BOOT mode background tasks')
except asyncio.exceptions.CancelledError:
print("Exception thrown cancelling task - This is normal")
if not antennaDeployed:
await asyncio.gather(antennaDeploy.run())
print('Running Antenna Deployment Mode')
antennaDeployed = True
print("Antenna Deployed = ", antennaDeployed)
recordData(bootCount, antennaDeployed, lastMode) # Save into files
elif lastMode == 4:
print('Running Post Boom Deploy')
lastMode = 4
recordData(bootCount, antennaDeployed, lastMode) # Save into files
await asyncio.gather(postBoomDeploy.run())
else:
print('Running preBoom Deploy')
lastMode = 2
recordData(bootCount, antennaDeployed, lastMode) # Save into files
await asyncio.gather(preBoomDeploy.run())
lastMode = 3
recordData(bootCount, antennaDeploy, lastMode)
print("Finished running preBoomDeploy")
while True: # This loop executes the rest of the flight logic
# pre boom deploy
print("Entered the loop that chooses the next mission mode.")
recordData(bootCount, antennaDeployed, lastMode) # Save into files
if ((antennaDeployed == True) and (lastMode != 3) and (lastMode != 4)):
print('Running pre-Boom deploy')
lastMode = 2
recordData(bootCount, antennaDeployed, lastMode)
await asyncio.gather(
preBoomDeploy.run()
) # Execute pre-boom deploy, then move to post-boom deploy
print("Finished preBoomDeploy")
lastMode = 3
recordData(bootCount, antennaDeployed, lastMode)
elif ((antennaDeployed == True) and (lastMode == 3)):
print('Running Boom Deploy')
await asyncio.gather(
boomDeploy.run()
) # Execute boom deployment, start post-boom deploy
lastMode = 4
recordData(bootCount, antennaDeployed, lastMode)
else: # Post-Boom Deploy
print('Running post-Boom Deploy')
recordData(bootCount, antennaDeployed, lastMode) # Save into files
await asyncio.gather(postBoomDeploy.run())
import sys
sys.path.append('../')
from Drivers.eps import EPS
from time import sleep
epsTest = EPS()
#Test all read functions
print("MCU Temp in C: " + str(epsTest.getMCUTemp()))
print("Cell 1 Temp in C: " + str(epsTest.getCell1Temp()))
print("Cell 2 Temp in C: " + str(epsTest.getCell2Temp()))
print("Bus Voltage in V: " + str(epsTest.getBusVoltage()))
print("Bus Current in A: " + str(epsTest.getBusCurrent()))
print("Battery Charge Regulator Voltage in V: " + str(epsTest.getBCRVoltage()))
print("Battery Charge Regulator Current in A: " + str(epsTest.getBCRCurrent()))
print("3V3 Current in A: " + str(epsTest.get3V3Current()))
print("5V Current in A: " + str(epsTest.get5VCurrent()))
print("X-Axis Solar Panel Voltage in V: " + str(epsTest.getSPXVoltage()))
print("X- Solar Panel Current in A: " + str(epsTest.getSPXMinusCurrent()))
print("X+ Solar Panel Current in A: " + str(epsTest.getSPXPlusCurrent()))
print("Y-Axis Solar Panel Voltage in V: " + str(epsTest.getSPYVoltage()))
print("Y- Solar Panel Current in A: " + str(epsTest.getSPYMinusCurrent()))
print("Y+ Solar Panel Current in A: " + str(epsTest.getSPYPlusCurrent()))
print("Z-Axis Solar Panel Voltage in V: " + str(epsTest.getSPZVoltage()))
print("Tests done. Exiting.")
async def run(self):
"""
Deploys the antenna when the battery voltage is high enough.
Runs async tasks pythonInterrupt, collectTTNCData, collectAttitudeData,
thresholdcheck, skipToPostBoom, readNextTransferWindow, trasmit
"""
print('Antenna Deploy Running!')
self.__tasks.append(
asyncio.create_task(self.__heartBeatObj.heartBeatRun()))
self.__tasks.append(
asyncio.create_task(
pythonInterrupt.interrupt(self.__transmit,
self.__packetProcessing)))
self.__tasks.append(
asyncio.create_task(self.__getTTNCData.collectTTNCData(
1))) #Antenna deploy is mission mode 1
self.__tasks.append(
asyncio.create_task(self.__getAttitudeData.collectAttitudeData()))
eps = EPS()
#If ground station has sent command to skip to post boom
# if await self.skipToPostBoom():
# return True #Finish this mode and move on
while True: #Runs antenna deploy loop
try:
BattVoltage = eps.getBusVoltage()
if ((BattVoltage < BattVoltageMin)
or (BattVoltage > BattVoltageMax)):
print("BattVoltageInt: ", BattVoltage, "BattVoltage: ",
BattVoltage)
raise unexpectedValue
except Exception as e:
BattVoltage = 4.18
print("failed to retrieve BattVoltage. Exception: ", repr(e),
getframeinfo(currentframe()).filename,
getframeinfo(currentframe()).lineno, "Received: ",
BattVoltage)
if (BattVoltage >
self.deployVoltage): #If the bus voltage is high enough
await asyncio.gather(self.__antennaDeployer.deployPrimary()
) #Fire Primary Backup Resistor
try:
doorStatus = self.__antennaDoor.readDoorStatus(
) #Returns True if all doors are deployed
except:
doorStatus = False
print("Failed to check door status")
if doorStatus == True:
self.cancelAllTasks(self.__tasks)
print('Doors are open, returning true')
return True
else:
print(
'Firing secondary, primary did not work. Returning True'
)
await asyncio.gather(
self.__antennaDeployer.deploySecondary())
self.cancelAllTasks(self.__tasks)
return True
else:
if (self.timeWaited > self.maximumWaitTime):
await asyncio.gather(
self.__antennaDeployer.deployPrimary()
) #Fire Primary Backup Resistor
try:
doorStatus = self.__antennaDoor.readDoorStatus(
) #Returns True if all doors are deployed
except:
print("Failed to check door status")
if doorStatus == True:
self.cancelAllTasks(self.__tasks)
print('Doors are open, returning true')
return True
else:
print(
'Firing secondary, primary did not work. Returning True'
)
await asyncio.gather(
self.__antennaDeployer.deploySecondary())
self.cancelAllTasks(self.__tasks)
return True
else:
#Wait 1 minute
print('Waiting 1 minute until battery status resolves')
self.timeWaited = self.timeWaited + 1
await asyncio.sleep(60)
import sys
sys.path.append('../')
from Drivers.eps import EPS
from time import sleep
epsTest = EPS()
#Test battery raw disable/enable
epsTest.enableRaw()
print("Raw Battery Voltage Enabled for 10 seconds")
sleep(10)
epsTest.disableRaw()
print("Raw Battery Voltage Disabled for 10 seconds")
sleep(10)
epsTest.enableRaw()
print("Raw Battery Voltage Re-enabled for 10 seconds")
import sys
sys.path.append('../')
from Drivers.eps import EPS
from time import sleep
epsTest = EPS()
#Test solar panel charge functions
print("Bus Voltage in V: " + str(epsTest.getBusVoltage()))
print("Bus Current in A: " + str(epsTest.getBusCurrent()))
print("Battery Charge Regulator Voltage in V: " + str(epsTest.getBCRVoltage()))
print("Battery Charge Regulator Current in A: " + str(epsTest.getBCRCurrent()))
print("X-Axis Solar Panel Voltage in V: " + str(epsTest.getSPXVoltage()))
print("X+ Solar Panel Current in A: " + str(epsTest.getSPXPlusCurrent()))