Implementing Rocket Commanding

cornellrocketryteam · Nov 18, 2024 · bb24fbb · bb24fbb
1 parent d6eb215
commit bb24fbb
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Showing 6 changed files with 62 additions and 32 deletions.
diff --git a/fill/actuators/sol_valve.cc b/fill/actuators/sol_valve.cc
@@ -11,8 +11,6 @@ SolValve::SolValve(){
 
 SolValve::~SolValve(){}
 
-
-
 void SolValve::open(){
     pinMode(SV_SIGNAL, OUTPUT);
     digitalWrite(SV_SIGNAL, HIGH);
@@ -37,6 +35,4 @@ void SolValve::close(){
     pinMode(SV_SIGNAL, OUTPUT);
     digitalWrite(SV_SIGNAL, LOW);
     isOpen=false;
-}
-
-
+}
diff --git a/fill/fill_station.cc b/fill/fill_station.cc
@@ -121,15 +121,9 @@ class CommanderServiceImpl final : public Commander::Service
                 sv1.close();
             }
         }
-        if (request->sv2_close()){
-            // send TCP command to rocket_controller 
-        }
-        if (request->mav_open()){
-            // send TCP command to rocket_controller 
-        }
-        if (request->fire()){
-            // send TCP command to rocket_controller 
-        }
+
+        protoBuild.sendCommand(request);
+
         return Status::OK;
     }
 };

diff --git a/fill/umbilical/proto_build.cc b/fill/umbilical/proto_build.cc
@@ -1,19 +1,43 @@
 #include "proto_build.h"
+#include <iostream>
 
-RocketTelemetryProtoBuilder::RocketTelemetryProtoBuilder(): serial_data(usb_port, std::ios::binary){}
+RocketTelemetryProtoBuilder::RocketTelemetryProtoBuilder(): serial_data(usb_port, std::ios::in | std::ios::out | std::ios::binary){}
 
 RocketTelemetryProtoBuilder::~RocketTelemetryProtoBuilder(){
     serial_data.close();
 }
 
+void RocketTelemetryProtoBuilder::sendCommand(const Command* com) {
+    if (com->has_sv2_close()){
+        if (com->sv2_close()) {
+            serial_data << (uint8_t)CLOSE_SV << std::flush; 
+        } else {
+            serial_data << (uint8_t)OPEN_SV << std::flush; 
+        }
+    }
+
+    if (com->has_mav_open()){
+        if (com->mav_open()){
+            serial_data << (uint8_t)OPEN_MAV << std::flush; 
+        } else {
+            serial_data << (uint8_t)CLOSE_MAV << std::flush;
+        }
+    }
+
+    if (com->launch()){
+        serial_data << (uint8_t)LAUNCH << std::flush; 
+    }
+    // if (com->clear_sd()){
+    //     serial_data << (uint8_t)CLEAR_SD << std::flush;
+    // }
+}
+
 RocketTelemetry RocketTelemetryProtoBuilder::buildProto(){
     RocketTelemetry rocketTelemetry; 
-
-    if (!serial_data){
+     if (serial_data.is_open()){
         RocketUmbTelemetry* rocketUmbTelemetry = rocketTelemetry.mutable_umb_telem();
         RocketMetadata* rocketMetadata = rocketUmbTelemetry->mutable_metadata();
         Events* events = rocketUmbTelemetry->mutable_events();
-
 
         uint16_t metadata;
         uint32_t ms_since_boot; 
@@ -27,17 +51,20 @@ RocketTelemetry RocketTelemetryProtoBuilder::buildProto(){
         float pt4; 
         float temp;
 
-        serial_data.read(reinterpret_cast<char*>(&metadata), sizeof(metadata));
-        serial_data.read(reinterpret_cast<char*>(&ms_since_boot), sizeof(ms_since_boot));
-        serial_data.read(reinterpret_cast<char*>(&events_val), sizeof(events_val));
+        char packet[28]; 
+        serial_data.getline(packet, UMB_PACKET_SIZE);
+
+        memcpy(&metadata, packet, sizeof(metadata));
+        memcpy(&ms_since_boot, packet + 2, sizeof(ms_since_boot));
+        memcpy(&events_val, packet + 6, sizeof(events_val));
 
-        serial_data.read(reinterpret_cast<char*>(&radio_state), sizeof(radio_state));
-        serial_data.read(reinterpret_cast<char*>(&transmit_state), sizeof(transmit_state));
+        memcpy(&radio_state, packet + 10, sizeof(radio_state));
+        memcpy(&transmit_state, packet + 11, sizeof(transmit_state));
 
-        serial_data.read(reinterpret_cast<char*>(&voltage), sizeof(voltage));
-        serial_data.read(reinterpret_cast<char*>(&pt3), sizeof(pt3));
-        serial_data.read(reinterpret_cast<char*>(&pt4), sizeof(pt4));
-        serial_data.read(reinterpret_cast<char*>(&temp), sizeof(temp));
+        memcpy(&voltage, packet + 12, sizeof(voltage));
+        memcpy(&pt3, packet + 16, sizeof(pt3));
+        memcpy(&pt4, packet + 20, sizeof(pt4));
+        memcpy(&temp, packet + 24, sizeof(temp));
 
         rocketMetadata->set_alt_armed(static_cast<bool>(metadata & 0x1)); 
         rocketMetadata->set_alt_valid(static_cast<bool>((metadata & 0x2) >> 1)); 
@@ -109,7 +136,7 @@ RocketTelemetry RocketTelemetryProtoBuilder::buildProto(){
         rocketUmbTelemetry->set_rtd_temp(temp);
 
     } else {
-        printf("Serial port is not open.");
+        std::cout << "Serial port is not open.\n"; 
     }
     return rocketTelemetry;
 }
diff --git a/fill/umbilical/proto_build.h b/fill/umbilical/proto_build.h
@@ -1,6 +1,15 @@
 #ifndef PROTO_BUILD_H
 #define PROTO_BUILD_H
 
+#define LAUNCH '0'
+#define OPEN_MAV '1'
+#define CLOSE_MAV '2'
+#define OPEN_SV '3'
+#define CLOSE_SV '4'
+#define CLEAR_SD '5'
+
+#define UMB_PACKET_SIZE 28
+
 #include <fstream>
 #include "protos/command.grpc.pb.h"
 #include <iostream>
@@ -10,17 +19,20 @@ using command::RocketMetadata;
 using command::Events;
 using command::FlightMode; 
 using command::RocketUmbTelemetry;
+using command::Command; 
 
 class RocketTelemetryProtoBuilder {
     private:
-        const char* usb_port = "/dev/ttyACM0";
+        const char* usb_port = "/dev/rocket";
 
-        std::ifstream serial_data;
+        std::fstream serial_data;
     public: 
         // Establish serial connection 
         RocketTelemetryProtoBuilder();
         ~RocketTelemetryProtoBuilder();
 
+        void sendCommand(const Command* com); 
+
         RocketTelemetry buildProto(); 
 };
 

diff --git a/go-proxies/proxy_build.sh b/go-proxies/proxy_build.sh
@@ -18,4 +18,4 @@ pushd ..
 docker build -t ghcr.io/cornellrocketryteam/fill-telem-proxy:latest -f go-proxies/fill-telem-proxy/Dockerfile . &
 docker build -t ghcr.io/cornellrocketryteam/rocket-telem-proxy:latest -f go-proxies/rocket-telem-proxy/Dockerfile . &
 docker build -t ghcr.io/cornellrocketryteam/websocket-proxy:latest -f go-proxies/websocket-proxy/Dockerfile .
-popd
+popd
diff --git a/protos/command.proto b/protos/command.proto
@@ -37,7 +37,8 @@ message Command {
     optional bool ignite = 5;
     optional bool sv2_close = 6;
     optional bool mav_open = 7;
-    optional bool fire = 8;
+    optional bool launch = 8;
+    // optional bool clear_sd = 9;
 }
 
 // The response message containing an ack