def __init__(self, saveObject, transmitObject, packetObj):
self.__transmit = transmitObject
self.__getTTNCData = TTNCData(saveObject)
self.__getAttitudeData = AttitudeData(saveObject)
self.__heartBeatObj = heart_beat()
self.__tasks = [] # List will be populated with all background tasks
# self.__safeMode = safeModeObject
print("Initialized postBoomDeploy")
self.__packet = packetObj
def __init__(self, saveObject, transmitObject, packetObj):
self.thresholdVoltage = 3.85 #Threshold voltage to deploy AeroBoom.
self.darkVoltage = 0.9 #Average voltage from sunsors that, if below this, indicates GASPACS is in darkness
self.lightMinimumMinutes = 1 #Minimum amount of time GASPACS must be on light side of orbit before deploying
self.batteryStatusOk = False
self.sunlightData = 0
self.__getTTNCData = TTNCData(saveObject)
self.__getAttitudeData = AttitudeData(saveObject)
self.__tasks = [] #Will be populated with tasks
self.__packetProcessing = packetObj
self.__transmit = transmitObject
self.__heartBeatObj = heart_beat()
def __init__(self, saveObject, transmitObject, cam, packetObj):
self.__getTTNCData = TTNCData(saveObject)
self.__getAttitudeData = AttitudeData(saveObject)
self.__getDeployData = DeployData(saveObject)
self.__tasks = [
] # Empty list will be populated with all background tasks
# self.__safeMode = safeModeObject
self.__saveObject = saveObject
self.__transmit = transmitObject
self.__packetProcessing = packet(transmitObject, cam)
self.__heartBeatObj = heart_beat()
self.__cam = cam
self.__packetProcessing = packetObj
def __init__(self, saveObject, transmitObject, packetObj):
self.deployVoltage = 3.85 #Threshold voltage to deploy
self.maximumWaitTime = 22 * 60 #Maximum time to wait for deployment before going to SAFE
self.timeWaited = 0 #Time already waited - zero
self.__getTTNCData = getDriverData.TTNCData(saveObject)
self.__getAttitudeData = getDriverData.AttitudeData(saveObject)
self.__tasks = [
] #List will be populated with background tasks to cancel them
# self.__safeMode = safeModeObject
self.__antennaDeployer = BackupAntennaDeployer()
self.__antennaDoor = AntennaDoor()
self.__transmit = transmitObject
self.__packetProcessing = packetObj
self.__heartBeatObj = heart_beat()
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('../')
import asyncio
from flightLogic.missionModes.heartBeat import heart_beat
""" Tests if heartbeat is working """
heartBeatObj = heart_beat()
print("Starting receive.")
asyncio.run(heartBeatObj.heartBeatRun())