def main():
lock = Lock("/root/csdc3/src/utils/heaterShutDownLock.tmp")
lock.acquire()
print("Lock has been acquired by ShutAllBatteryHeaters.py")
sleep(600)
lock.release()
print("Lock has been released by ShutAllBatteryHeaters.py")
def __init__(self):
self.controlStatus = False
self.payloadLock = Lock("/root/csdc3/src/utils/payloadLock.tmp")
self.sensorReadingLock = Lock("/root/csdc3/src/utils/sensorReadingLock.tmp")
self.heaterShutDownLock = Lock("/root/csdc3/src/utils/heaterShutDownLock.tmp")
self.pastReadingAboveThresh = True
self.thresholdVoltage = 12
def f(i):
l = Lock("/home/justin/Desktop/lock.tmp")
l.acquire()
try:
print('Thread', i, 'has lock')
sleep(2)
finally:
l.release()
def __init__(self, experiment, max_time=PAYLOAD_MIN_SPACE, \
max_loadcell=PAYLOAD_MAX_LOADCELL, sampling_freq=PAYLOAD_SAMPLING_FREQ, \
max_temp=MAX_ACTUATE_TEMP, heater_period=HEATER_ON_TIME, actuate_time=PAYLOAD_ACTUATE_TIME):
self.experiment = experiment
if self.experiment == 1:
self.heater = PAYLOAD_HTR_B_GPIO
self.temp_sensor = TEMP_PAYLOAD_B
else:
self.heater = PAYLOAD_HTR_A_GPIO
self.temp_sensor = TEMP_PAYLOAD_A
self.max_time = max_time
self.max_loadcell = max_loadcell
self.sampling_freq = sampling_freq
self.heater_period = heater_period
self.max_temp = max_temp
self.actuate_time = actuate_time
self.lock = Lock("/root/csdc3/src/utils/payloadLock.tmp")
class PowerMonitor:
def __init__(self):
self.controlStatus = False
self.payloadLock = Lock("/root/csdc3/src/utils/payloadLock.tmp")
self.sensorReadingLock = Lock("/root/csdc3/src/utils/sensorReadingLock.tmp")
self.heaterShutDownLock = Lock("/root/csdc3/src/utils/heaterShutDownLock.tmp")
self.pastReadingAboveThresh = True
def check_health(self):
"""
Determines whether battery chargers must be set manually
"""
# Check if sensors are reading data in the system
# if areSensorsAcquiringData():
# return
# Check if ShutAllBatteryHeaters is running
if self.heaterShutDownLock.isLocked():
# Shut all battery heaters off
print('Battery heaters must remain shut off')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
for heater in heaterIdentifers:
SensorManager.gpio_output(heater, OFF)
return
# # Get temperature inputs
# tempIdentifiers = (TEMP_BAT_1,) # TEMP_BAT_2, TEMP_BAT_3, TEMP_BAT_4)
# tempValues = []
# for iden in tempIdentifiers:
# SensorManager.init_temp_sensor(iden)
# valueList = []
# # Get median of 5 value readings to remove outliers
# for i in range(0,5):
# valueList.append(SensorManager.read_temp_sensor(iden))
# tempValue = median(valueList)
# print(tempValue)
# SensorManager.stop_temp_sensor(iden)
# # Keep final value of sensor
# tempValues.append(tempValue)
#
# # Get status identifiers
# statusIdentifiers = (PSS_HTR_STAT_1_GPIO, PSS_HTR_STAT_2_GPIO,\
# PSS_HTR_STAT_3_GPIO, PSS_HTR_STAT_4_GPIO)
# statusValues = []
# for iden in statusIdentifiers:
# statusValues.append(SensorManager.gpio_input(iden,0))
batteryTempAndStatusDict = BatteryHeatersReader()
tempValues = [item["temp"] for item in batteryTempAndStatusDict]
statusValues = [item["heaters"] for item in batteryTempAndStatusDict]
# Define manual heater identifiers
heaterIdentifers = (PSS_HTR_EN_1_GPIO, PSS_HTR_EN_2_GPIO,\
PSS_HTR_EN_3_GPIO, PSS_HTR_EN_4_GPIO)
print('Status value: ' + str(statusValues[0]))
print('Is analog:', SensorManager.gpio_input(PSS_HTR_MUX_SEL_GPIO, time.time()))
# Check if payload is running
if self.isPayloadAcquiringData():
# Shut all battery heaters off
print('Payload is running... shutting off all battery heaters')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
for heater in heaterIdentifers:
SensorManager.gpio_output(heater, OFF)
return
# Find out if analog or OBC is in control
for i in range(0,len(tempValues)):
if (self.temp_threshold(tempValues[i], 'GT') and statusValues[i] == 1)\
or (self.temp_threshold(tempValues[i], 'LT') and statusValues[i] == 0):
# OBC will take control
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
break
else:
# Analog will take control
self.controlStatus = False
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, ON)
# Perform OBC control if required
if self.controlStatus == True:
for i in range(0,len(tempValues)):
if tempValues[i] != None:
if self.temp_threshold(tempValues[i], 'GT') and statusValues[i] == 0:
print('Case 1: Temp > threshold, heaters off, no action required')
elif self.temp_threshold(tempValues[i], 'GT') and statusValues[i] == 1:
print('Case 2: Temp > threshold, heaters on, OBC must shut off heater')
SensorManager.gpio_output(heaterIdentifers[i], OFF)
elif self.temp_threshold(tempValues[i], 'LT') and statusValues[i] == 0:
print('Case 3: Temp < threshold, heaters off, OBC must activate heater')
if self.is_battery_safe():
SensorManager.gpio_output(heaterIdentifers[i], ON)
elif self.temp_threshold(tempValues[i], 'LT') and statusValues[i] == 1:
print('Case 4: Temp < threshold, heaters on, no action required')
def temp_threshold(self, tempValue, sign):
"""
Returns boolean for crossed temperature threshold
"""
tempRef = 12
thresholdPct = 0.1
if sign == 'GT':
result = tempValue > tempRef*(1+thresholdPct)
elif sign == 'LT':
result = tempValue < tempRef*(1-thresholdPct)
else:
raise Exception("Invalid parameter: must be 'GT' or 'LT'")
return result
def is_battery_safe(self):
"""
Determines if heaters have enough power to heat batteries
"""
return True
def isPayloadAcquiringData(self):
"""
Determines whether the payload experiment is running
"""
return self.payloadLock.isLocked()
def areSensorsAcquiringData(self):
"""
Determines if there are sensor readings in progress
"""
return self.sensorReadingLock.isLocked()
def checkLock():
l = Lock("/home/justin/Desktop/lock.tmp")
if l.isLocked():
print("Lock is locked")
else:
print("Lock is NOT locked")
class PowerMonitor:
def __init__(self):
self.controlStatus = False
self.payloadLock = Lock("/root/csdc3/src/utils/payloadLock.tmp")
self.sensorReadingLock = Lock("/root/csdc3/src/utils/sensorReadingLock.tmp")
self.heaterShutDownLock = Lock("/root/csdc3/src/utils/heaterShutDownLock.tmp")
self.pastReadingAboveThresh = True
self.thresholdVoltage = 12
def check_health(self):
"""
Determines whether battery chargers must be set manually
"""
# Check if sensors are reading data in the system
# if areSensorsAcquiringData():
# return
print('Threshold voltage:', self.thresholdVoltage)
# Get temperature inputs
tempIdentifiers = (TEMP_BAT_1) #, TEMP_BAT_2, TEMP_BAT_3, TEMP_BAT_4)
tempValues = []
for iden in tempIdentifiers:
SensorManager.init_temp_sensor(iden)
valueList = []
# Get median of 5 value readings to remove outliers
for i in range(0,5):
valueList.append(SensorManager.read_temp_sensor(iden))
tempValue = median(valueList)
print('Current temperature:', tempValue)
SensorManager.stop_temp_sensor(iden)
# Keep final value of sensor
tempValues.append(tempValue)
# Get status identifiers
statusIdentifiers = (PSS_HTR_STAT_1_GPIO, PSS_HTR_STAT_2_GPIO,\
PSS_HTR_STAT_3_GPIO, PSS_HTR_STAT_4_GPIO)
statusValues = []
for iden in statusIdentifiers:
statusValues.append(SensorManager.gpio_input(iden,0))
# Define manual heater identifiers
heaterIdentifiers = (PSS_HTR_EN_1_GPIO, PSS_HTR_EN_2_GPIO,\
PSS_HTR_EN_3_GPIO, PSS_HTR_EN_4_GPIO)
# Check if ShutAllBatteryHeaters is running
if self.heaterShutDownLock.isLocked():
# Shut all battery heaters off
print('Battery heaters must remain shut off')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
for heater in heaterIdentifiers:
SensorManager.gpio_output(heater, OFF)
return
# Check if payload is running
if self.isPayloadAcquiringData():
# Shut all battery heaters off
print('Payload is running... shutting off all battery heaters')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
for heater in heaterIdentifiers:
SensorManager.gpio_output(heater, OFF)
return
# Take control if required
for i in range(0,len(tempValues)):
if self.temp_threshold(tempValues[i], 'GT') and statusValues[i] == 0:
print('Case 1: [Analog] Heaters are turned on')
self.controlStatus = False
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, ON)
return
elif self.temp_threshold(tempValues[i], 'GT') and statusValues[i] == 1:
print('Case 2: [Digital] Heaters are turned off')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
SensorManager.gpio_output(heaterIdentifiers[i], OFF)
return
elif self.temp_threshold(tempValues[i], 'LT') and statusValues[i] == 0:
print('Case 3: [Digital] Heaters are turned on')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
if self.is_battery_safe():
SensorManager.gpio_output(heaterIdentifiers[i], ON)
return
elif self.temp_threshold(tempValues[i], 'LT') and statusValues[i] == 1:
print('Case 4: [Analog] Heaters are turned off')
self.controlStatus = False
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, ON)
return
def temp_threshold(self, tempValue, sign):
"""
Returns boolean for crossed temperature threshold
"""
tempRef = self.thresholdVoltage
thresholdPct = 0.1
if sign == 'GT':
result = tempValue > tempRef*(1+thresholdPct)
elif sign == 'LT':
result = tempValue < tempRef*(1-thresholdPct)
else:
raise Exception("Invalid parameter: must be 'GT' or 'LT'")
return result
def is_battery_safe(self):
"""
Determines if heaters have enough power to heat batteries
"""
return True
def isPayloadAcquiringData(self):
"""
Determines whether the payload experiment is running
"""
return self.payloadLock.isLocked()
def areSensorsAcquiringData(self):
"""
Determines if there are sensor readings in progress
"""
return self.sensorReadingLock.isLocked()
def main():
lock = Lock(SENSOR_LOCK)
try:
lock.acquire()
# Create sensor lists
print("Creating sensor lists")
tempSensorList = [TEMP_EPS_BRD, TEMP_CDH_BRD, TEMP_PAYLOAD_BRD]
# TEMP_PAYLOAD_CHASSIS, TEMP_END_CAP
batteryTempSensorList = [TEMP_BAT_1, TEMP_BAT_2, TEMP_BAT_3, TEMP_BAT_4]
magSensorList= [MAG_0, MAG_1, MAG_2]
adcSwitchCurrentList = [PAYLOAD_SWITCH_ADC_ID, RADIO_SWITCH_ADC_ID]
powerSensorList = [POWER]
panelTempSensorList = [PANEL0, PANEL1, PANEL2, PANEL3]
masterList = list(set(tempSensorList) | set(magSensorList)
| set(powerSensorList) | set(batteryTempSensorList) \
| set(adcSwitchCurrentList))
functionsDict = {}
# Declare functions used for initialization
print("Getting functions for initialization")
functionsDict["init_temp"] = SensorManager.init_temp_sensor
functionsDict["init_mag"] = SensorManager.init_magnetometer
functionsDict["init_power"] = SensorManager.init_power_sensor
# Declare functions used for reading
print("Getting functions for reading")
functionsDict["read_temp"] = SensorManager.read_temp_sensor
functionsDict["read_mag"] = SensorManager.read_magnetometer
functionsDict["read_power"] = SensorManager.read_power_sensor
functionsDict["read_switch"] = SensorManager.read_switch_current
# Declare functions used for stopping
print("Getting functions for stopping")
functionsDict["stop_temp"] = SensorManager.stop_temp_sensor
functionsDict["stop_mag"] = SensorManager.stop_magnetometer
functionsDict["stop_power"] = SensorManager.stop_power_sensor
# Initialize sensors
print("Initializing sensors")
for sensor in masterList:
if sensor in tempSensorList or sensor in batteryTempSensorList:
functionsDict["init_temp"](sensor)
elif sensor in magSensorList:
functionsDict["init_mag"](sensor)
elif sensor in powerSensorList:
functionsDict["init_power"](sensor)
#with open("/root/csdc3/src/sensors/temp_log.txt", "a") as f:
for i in range(3):
start = time()
#sensorValueDict = {}
# Get sensor values
print("Getting sensor values")
for sensor in masterList:
if sensor in tempSensorList or sensor in batteryTempSensorList:
result = functionsDict["read_temp"](sensor)
elif sensor in magSensorList:
result = functionsDict["read_mag"](sensor)
elif sensor in powerSensorList:
result = functionsDict["read_power"](sensor)
elif sensor in adcSwitchCurrentList:
result = functionsDict["read_switch"](sensor)
#sensorValueDict[sensor] = result
# Get time it took to complete operations
readtime = time() - start
#sensorValueDict["Time"] = readtime
print("Getting completion time: {}".format(readtime))
#f.write(str(sensorValueDict) + '\n')
# Stop sensors
print("Stopping sensors")
for sensor in masterList:
if sensor in tempSensorList or sensor in batteryTempSensorList:
functionsDict["stop_temp"](sensor)
elif sensor in magSensorList:
functionsDict["stop_mag"](sensor)
elif sensor in powerSensorList:
functionsDict["stop_power"](sensor)
finally:
lock.release()
pass
class Payload():
PAYLOAD_MAX_TIME = 450
PAYLOAD_ACTUATE_TIME = 255.0
PAYLOAD_MAX_LOADCELL = 9999
PAYLOAD_SAMPLING_FREQ = 3
PAYLOAD_MIN_SPACE = 10440
PAYLOAD_MIN_VBAT = 3.0
MAX_ACTUATE_TEMP = 40.
HEATER_ON_TIME = 3
def __init__(self, experiment, max_time=PAYLOAD_MIN_SPACE, \
max_loadcell=PAYLOAD_MAX_LOADCELL, sampling_freq=PAYLOAD_SAMPLING_FREQ, \
max_temp=MAX_ACTUATE_TEMP, heater_period=HEATER_ON_TIME, actuate_time=PAYLOAD_ACTUATE_TIME):
self.experiment = experiment
if self.experiment == 1:
self.heater = PAYLOAD_HTR_B_GPIO
self.temp_sensor = TEMP_PAYLOAD_B
else:
self.heater = PAYLOAD_HTR_A_GPIO
self.temp_sensor = TEMP_PAYLOAD_A
self.max_time = max_time
self.max_loadcell = max_loadcell
self.sampling_freq = sampling_freq
self.heater_period = heater_period
self.max_temp = max_temp
self.actuate_time = actuate_time
self.lock = Lock("/root/csdc3/src/utils/payloadLock.tmp")
def check_initial_conditions(self):
# Check battery voltage
SensorManager.init_power_sensor(POWER)
power = SensorManager.read_power_sensor(POWER)
vbat = power[0] / 1000.
# Check available memory
free_space = utility.get_disk_usage('/')
#print("Free space", free_space)
if free_space >= self.PAYLOAD_MIN_SPACE and vbat >= self.PAYLOAD_MIN_VBAT:
return True
else:
print("Experiment cancelled")
print(free_space, vbat)
insertDebugLog(NOTICE, "Cancelled. Free space: %d, vbat: %.2f" % \
(free_space, vbat, PAYLOAD, int(time.time())))
return False
def init_sensors(self):
SensorManager.init_adc(ADC)
SensorManager.init_temp_sensor(self.temp_sensor)
def start(self):
insertDebugLog(NOTICE, "Starting. Runtime: %ds, Actuate time: %ds, Max strain: %d, Sampling Freq: %d." % \
(self.max_time, self.actuate_time, self.max_loadcell, \
self.heater_period), PAYLOAD, int(time.time()))
print("Starting payload...")
print("Runtime: %ds, Actuate time: %ds, Max strain: %d, Sampling period: %ds" % \
(self.max_time, self.actuate_time, self.max_loadcell, \
self.heater_period))
if not self.check_initial_conditions():
return False
self.lock.acquire()
self.set_power(True)
self.init_sensors()
start_time = time.time()
elapsed = 0
while True:
heater_temp = 0
if elapsed <= self.actuate_time or heater_temp < self.max_temp:
self.set_heaters(self.experiment, True)
time.sleep(self.heater_period)
else:
print("No longer turning heaters on")
time.sleep(self.heater_period)
self.set_heaters(self.experiment, False)
self.set_heaters(self.experiment, False)
elapsed = time.time() - start_time
off_time = time.time()
print("[" + str(round(elapsed, 3)) + " s] ", end='')
strain, force, adc_temp = SensorManager.read_adc(self.experiment, ADC)
heater_temp = SensorManager.read_temp_sensor(self.temp_sensor)
print(strain, force, adc_temp, heater_temp)
sleep_time = time.time() - off_time
elapsed = time.time() - start_time
time.sleep(abs(self.heater_period - sleep_time))
elapsed = time.time() - start_time
strain, force, adc_temp = SensorManager.read_adc(self.experiment, ADC)
heater_temp = SensorManager.read_temp_sensor(self.temp_sensor)
print("[" + str(round(elapsed, 3)) + " s] ", end='')
print(strain, force, adc_temp, heater_temp)
if self.is_end_condition(strain, elapsed):
break
if self.experiment:
exp = 'B'
else:
exp = 'A'
insertPayloadLog(int(start_time), int(time.time()), exp)
self.end()
self.lock.release()
return True
def end(self):
print("Payload ending...")
insertDebugLog(NOTICE, "Ending", PAYLOAD, int(time.time()))
SensorManager.stop_temp_sensor(self.temp_sensor)
SensorManager.stop_adc_sensor(ADC)
self.set_heaters(self.experiment, False)
self.set_power(False)
def set_heaters(self, experiment=0, state=False):
if state == False:
SensorManager.gpio_output(self.heater, OFF)
else:
SensorManager.gpio_output(self.heater, ON)
return True
def set_power(self, isOn=False):
insertDebugLog(NOTICE, "Power to %d" % (isOn), PAYLOAD, int(time.time()))
print("Setting power for payload: ", isOn)
if isOn == False:
SensorManager.gpio_output(PAYLOAD_EN_GPIO, OFF)
SensorManager.gpio_output(OLD_PAYLOAD_EN_GPIO, OFF)
else:
SensorManager.gpio_output(PAYLOAD_EN_GPIO, ON)
SensorManager.gpio_output(OLD_PAYLOAD_EN_GPIO, ON)
SensorManager.gpio_output(SENSORS_EN_GPIO, ON)
return True
def is_end_condition(self, strain, elapsed):
if strain >= self.max_loadcell or elapsed >= self.max_time:
return True
else:
return False
