Ignitor Implementation (#185)

.github/workflows/fill_station_action.yml

@@ -44,7 +44,8 @@ jobs:
             bazel build //fill/lib/MockWiringPi:mock_wiringpi
             ./fill/setup_mock_wiringpi.sh
             bazel build //fill:all
-            #  ./fill/test/bv_test.sh
+            # ./fill/test/ignitor_test.sh
+            # ./fill/test/bv_test.sh
             # ./fill/test/qd_test.sh
             # ./fill/test/sv1_test.sh
           elif [[ "${{ matrix.arch }}" == "arm64" ]]; then

fill/BUILD

@@ -7,6 +7,7 @@ cc_binary(
         "//fill/actuators:ball_valve",
         "//fill/umbilical:rocket_proto_builder",
         "//fill/actuators:sol_valve",
+        "//fill/actuators:ignitor",
         "//fill/sensors:pt",
         "@abseil-cpp//absl/flags:flag",
         "@abseil-cpp//absl/flags:parse",

fill/actuators/BUILD

@@ -40,4 +40,16 @@ cc_library(
     visibility = [
         "//fill:__subpackages__",
         ],
+)
+
+cc_library(
+    name = "ignitor",
+    srcs = ["ignitor.cc"],
+    hdrs = ["ignitor.h"],
+    deps = [":actuator","//fill/lib/MockWiringPi:mock_wiringpi"],
+    includes = ["."],
+    linkopts = ["-lwiringPi"],
+    visibility = [
+        "//fill:__subpackages__",
+        ],
 )

fill/actuators/actuator.h

@@ -1,6 +1,7 @@
 #ifndef ACTUATOR_H
 #define ACTUATOR_H
 
+// TODO: Remove actuator interface entirely 
 class Actuator {
 public: 
     // Actuates the actuator 
@@ -12,4 +13,4 @@ class Actuator {
     bool actuating;
 };
 
-#endif 
+#endif 

fill/actuators/ignitor.cc

@@ -0,0 +1,23 @@
+#include "ignitor.h"
+
+Ignitor::Ignitor(){
+    wiringPiSetupGpio();
+    pinMode(IG_0, OUTPUT);
+    pinMode(IG_1, OUTPUT);
+
+    // write low initially 
+    digitalWrite(IG_0, LOW);
+    digitalWrite(IG_1, LOW);
+}
+
+Ignitor::~Ignitor(){}
+
+bool Ignitor::Actuate(){
+    digitalWrite(IG_0, HIGH);
+    digitalWrite(IG_1, HIGH);
+    delay(1000);
+    digitalWrite(IG_0, LOW);
+    digitalWrite(IG_1, LOW);
+}
+
+bool Ignitor::isActuating(){}

fill/actuators/ignitor.h

@@ -0,0 +1,17 @@
+#ifndef IGNITOR_H
+#define IGNITOR_H
+
+#include "actuator.h"
+#include "wiringPi.h"
+
+#define IG_0 17
+#define IG_1 27
+
+class Ignitor : public Actuator{
+    public: 
+        Ignitor();
+        ~Ignitor();
+        bool Actuate();
+        bool isActuating();
+};
+#endif 

fill/fill_station.cc

@@ -10,6 +10,7 @@
 #include "actuators/qd.h"
 #include "actuators/ball_valve.h"
 #include "actuators/sol_valve.h"
+#include "actuators/ignitor.h"
 
 #include "sensors/pt.h"
 #include "umbilical/proto_build.h"
@@ -48,6 +49,7 @@ using grpc::Status;
 QD qd; 
 BallValve ball_valve;
 SolValve sv1;
+Ignitor ignitor; 
 
 /* Sensors */
 PT pt1 = PT(0x48, 3);
@@ -121,7 +123,12 @@ class CommanderServiceImpl final : public Commander::Service
                 sv1.close();
             }
         }
-
+        if (request->has_ignite()){
+            if (request->ignite()){
+                ignitor.Actuate();
+            }
+        }
+
         protoBuild.sendCommand(request);
 
         return Status::OK;

fill/test/ignitor_test.sh

@@ -0,0 +1,43 @@
+#!/bin/bash
+
+# Check if grpcurl is already installed
+if ! command -v grpcurl &> /dev/null; then
+  echo "Installing grpcurl..."
+  wget https://github.com/fullstorydev/grpcurl/releases/download/v1.9.1/grpcurl_1.9.1_linux_amd64.deb
+  sudo apt install ./grpcurl_1.9.1_linux_amd64.deb
+  rm ./grpcurl_1.9.1_linux_amd64.deb # Clean up the downloaded deb file
+  echo "grpcurl installed."
+fi
+
+# Capture output and check against expected value
+# Run fill_station in the background and capture its PID
+stdbuf -oL ./bazel-bin/fill/fill_station > fill_station_output.txt 2>&1 &
+fill_station_pid=$!
+
+# Wait for fill_station to start listening
+while [[ ! $(grep "Server listening on" fill_station_output.txt) ]]; do
+  sleep 0.1 # Check every 0.1 seconds
+  if [[ $(ps -p $fill_station_pid) == "" ]]; then
+      echo "fill_station died unexpectedly"
+      exit 1
+  fi
+done
+
+# Send grpcurl command
+grpcurl -plaintext -d '{"ignite": true}' localhost:50051 command.Commander/SendCommand
+grpcurl -plaintext -d '{"ignite": false}' localhost:50051 command.Commander/SendCommand
+
+# Kill fill_station after a timeout (adjust timeout as needed)
+sleep 2
+pkill -9 -f fill_station
+
+actual_output=$(cat fill_station_output.txt)
+expected_output=$(cat ./fill/test/ignitor_test_expected_output.txt)
+if [[ "$actual_output" != "$expected_output" ]]; then
+    echo "Output mismatch:"
+    echo "Expected:"
+    echo "$expected_output"
+    echo "Actual:"
+    echo "$actual_output"
+    exit 1
+fi

fill/test/ignitor_test_expected_output.txt

@@ -0,0 +1,33 @@
+[MOCK] wiringPiSetupGpio called
+[MOCK] pinMode called, pin: 5, mode: 1
+[MOCK] pinMode called, pin: 6, mode: 1
+[MOCK] pinMode called, pin: 22, mode: 1
+[MOCK] pinMode called, pin: 26, mode: 1
+[MOCK] wiringPiSetupGpio called
+[MOCK] pinMode called, pin: 24, mode: 1
+[MOCK] pinMode called, pin: 23, mode: 1
+[MOCK] digitalWrite called, pin: 24, value: 0
+[MOCK] digitalWrite called, pin: 23, value: 0
+[MOCK] wiringPiSetupGpio called
+[MOCK] pinMode called, pin: 13, mode: 1
+[MOCK] digitalWrite called, pin: 13, value: 0
+[MOCK] wiringPiSetupGpio called
+[MOCK] pinMode called, pin: 17, mode: 1
+[MOCK] pinMode called, pin: 27, mode: 1
+[MOCK] digitalWrite called, pin: 17, value: 0
+[MOCK] digitalWrite called, pin: 27, value: 0
+setting up ADS with m_i2cAddress = 72
+[MOCK] wiringPiI2CSetup called with devId: 72
+m_i2cFd = 72
+setting up ADS with m_i2cAddress = 72
+[MOCK] wiringPiI2CSetup called with devId: 72
+m_i2cFd = 72
+Error opening /dev/rocket.
+Error getting termios attributes.
+Error setting termios attributes.
+Server listening on 0.0.0.0:50051
+[MOCK] digitalWrite called, pin: 17, value: 1
+[MOCK] digitalWrite called, pin: 27, value: 1
+[MOCK] delay called, howLong: 1000 (usleep used in mock)
+[MOCK] digitalWrite called, pin: 17, value: 0
+[MOCK] digitalWrite called, pin: 27, value: 0