def __init__(self, saveobject):
self.__getDataTTNC = TTNCData(saveobject)
self.__getDataAttitude = AttitudeData(saveobject)
self.__getDataDeployData = DeployData(saveobject)
self.__tasks = [
] # Empty list will be populated with all background tasks
self.safeMode = safe.safe(saveobject)
self.saveobject = saveobject
def __init__(self, saveobject):
self.deployVoltage = 3 #Threshold voltage to deploy
self.maximumWaitTime = 30 #Maximum time to wait for deployment before going to SAFE
self.timeWaited = 0 #Time already waited - zero
self.__getDataTTNC = getDriverData.TTNCData(saveobject)
self.__getDataAttitude = getDriverData.AttitudeData(saveobject)
self.__tasks = [
] #List will be populated with background tasks to cancel them
self.__safeMode = safe.safe(saveobject)
self.__antennaDeployer = BackupAntennaDeployer()
self.__antennaDoor = AntennaDoor()
def __init__(self, saveobject): self.thresholdVoltage = 3.5 #Threshold voltage to deploy AeroBoom. self.criticalVoltage = 3.1 #Critical voltage, below this go to SAFE self.darkVoltage = 1 #Average voltage from sunsors that, if below this, indicates GASPACS is in darkness self.darkMinutes = 1 #How many minutes GASPACS must be on the dark side for before moving forward self.lightMinimumMinutes = 1 #Minimum amount of time GASPACS must be on light side of orbit before deploying self.lightMaximumMinutes = 60 #Maximum amount of time GASPACS may be on light side of orbit before deploying, must be less than 90 by a fair margin since less than half of orbit can be sun self.batteryStatusOk = False self.maximumWaitTime = 240 #Max time GASPACS can wait, charging batteries, before SAFEing self.timeWaited = 0 self.sunlightData = [] self.__getDataTTNC = TTNCData(saveobject) self.__getDataAttitude = AttitudeData(saveobject) self.__tasks = [] #Will be populated with tasks self.saveobject = saveobject self.safeMode = safe.safe(saveobject)
def __init__(self, saveobject):
self.postBoomTimeFile = open("postBoomTime.txt", "w+")
self.__getDataTTNC = TTNCData(saveobject)
self.__getDataAttitude = AttitudeData(saveobject)
self.__tasks = [] # List will be populated with all background tasks
self.__safeMode = safe.safe(saveobject)
self.__timeToNextWindow = -1
self.___nextWindowTime = -1
self.__duration = -1
self.__datatype = -1
self.__pictureNumber = -1
self.__startFromBeginning = -1
fileChecker.checkFile("../TXISR/data/transmissionFlag.txt")
fileChecker.checkFile("../TXSIR/data/txWindows.txt")
self.__transmissionFlagFile = open(
"../TXISR/data/transmissionFlag.txt")
self.__txWindowsPath = ("../TXISR/data/txWindows.txt")
async def executeFlightLogic(): # Open the file save object, start TXISR, and start Boot Mode data collection
# Variable setup
delay = 1*60 # 35 minute delay
boot = True
save = saveTofiles.save()
# startTXISR(save)
ttncData = getDriverData.TTNCData(save)
attitudeData = getDriverData.AttitudeData(save)
safeMode = safe.safe(save)
#interruptObject = INTERRUPT()
print('Starting data collection') #Setting up Background tasks for BOOT mode
tasks=[]
tasks.append(asyncio.create_task(pythonInterrupt.interrupt()))
tasks.append(asyncio.create_task(ttncData.collectTTNCData(0))) #Boot Mode is classified as 0
tasks.append(asyncio.create_task(attitudeData.collectAttitudeData()))
tasks.append(asyncio.create_task(safeMode.thresholdCheck()))
tasks.append(asyncio.create_task(safeMode.heartBeat()))
# 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
antennaDeploy = antennaMode(save)
preBoomDeploy = preBoomMode(save)
postBoomDeploy = postBoomMode(save)
boomDeploy = boomMode(save)
if(readData() == (None, None, None)):
print('Files are empty')
bootCount, antennaDeployed, lastMode = 0,False,0
else:
bootCount, antennaDeployed, lastMode = readData() # Read in data from files
bootCount += 1 # Increment boot count
recordData(bootCount, antennaDeployed, lastMode)
if lastMode not in range(0,7): #Mission Mode invalid
lastMode = 0
antennaDeployed = False
# 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
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")
# how do we check if the antenna doors are open?
# TODO, check of antenna doors are open
print('Moving on to check antenna door status')
status = antennaDoor().readDoorStatus()
# this checks the bytes returned by the antennaDoor if any are 0 then doorOpen gets set to false
if antennaDeployed == True:
pass
elif status == (1,1,1,1): #This will need to be changed to reflect the real antenna
antennaDeployed = True
else:
antennaDeployed = False
recordData(bootCount, antennaDeployed, lastMode)
if not antennaDeployed:
print('Running Antenna Deployment Mode')
await asyncio.gather(antennaDeploy.run())
antennaDeployed = True
print(antennaDeployed)
recordData(bootCount, antennaDeployed, lastMode) # Save into files
elif lastMode == 4:
print('Running Post Boom Deploy')
lastMode = 4
await asyncio.gather(postBoomDeploy.run())
else:
print('Running preBoom Deploy')
lastMode = 2
await asyncio.gather(preBoomDeploy.run())
while True: # This loop executes the rest of the flight logic
# pre boom deploy
if antennaDeployed == True and lastMode not in (3,4):
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
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')
await asyncio.gather(postBoomDeploy.run())
def recordData(bootCount, antennaDeployed, lastMode):
fileCheck.checkFile("/home/pi/testingStartup/flightLogicData/bootRecords.txt")
# write to the boot file, "w" option in write overwrites the file
new = open("/home/pi/testingStartup/flightLogicData/bootRecords.txt", "w+")
new.write(str(bootCount) + '\n')
if antennaDeployed:
new.write(str(1)+'\n')
else:
new.write(str(0)+'\n')
new.write(str(lastMode) + '\n')
new.close()
# write to the the back up file
fileCheck.checkFile("/home/pi/testingStartup/flightLogicData/backupBootRecords.txt")
new = open("/home/pi/testingStartup/flightLogicData/backupBootRecords.txt", "w+")
new.write(str(bootCount) + '\n')
if antennaDeployed:
new.write(str(1)+'\n')
else:
new.write(str(0)+'\n')
new.write(str(lastMode) + '\n')
new.close()
def readData():
# This function reads in data from the files, it was previously in the main function but is better as its own function
# bootRecords file format
# Line 1 = boot count
# Line 2 = antenna deployed?
# Line 2 = last mission mode
bootCount,antennaDeployed,lastMode = None, None, None
fileCheck.checkFile("/home/pi/testingStartup/flightLogicData/bootRecords.txt")
try:
bootFile = open("/home/pi/testingStartup/flightLogicData/bootRecords.txt", "r")
bootCount = int(bootFile.readline().rstrip())
antennaDeployed = bool(int(bootFile.readline().rstrip()))
lastMode = int(bootFile.readline().rstrip())
bootFile.close()
except:
try:
print('File exception')
fileCheck.checkFile("/home/pi/testingStartup/flightLogicData/backupBootRecords.txt")
bootFile = open("/home/pi/testingStartup/flightLogicData/backupBootRecords.txt", "r")
bootCount = int(bootFile.readline().rstrip())
antennaDeployed = bool(int(bootFile.readline().rstrip()))
lastMode = int(bootFile.readline().rstrip())
bootFile.close()
# In this except statement, the files are corrupted, so we rewrite both of them
except:
print('Double File exception - are both files non-existant?')
fileCheck.checkFile("/home/pi/testingStartup/flightLogicData/bootRecords.txt")
bootFile = open("/home/pi/testingStartup/flightLogicData/bootRecords.txt", "w")
fileCheck.checkFile("/home/pi/testingStartup/flightLogicData/backupBootRecords.txt")
backupBootFile = open("/home/pi/testingStartup/flightLogicData/backupBootRecords.txt", "w")
bootFile.write('0\n0\n0\n')
backupBootFile.write('0\n0\n0\n')
recordData(bootCount, antennaDeployed, lastMode)
return bootCount, antennaDeployed, lastMode
# def startTXISR(saveobject): # Setup for TXISR
# This sets up the interupt on the uart pin that triggers when we get commincation over uart
# thread.start(interrupt.watchReceptions(saveobject)) <-- TODO fix that import