Marcelo/gpio interface

PythonTestProject/Codec.py

@@ -37,7 +37,7 @@ def Encode(buf, len, msgId):
         calc = Calculator(Crc16.CCITT)
         chksum = calc.checksum(encodedBuf)
 
-        print(f'Calculated checksum: {chksum}')
+        #print(f'Calculated checksum: {chksum}')
 
         # Then we append the checksum in little endian order
         encodedBuf.append(chksum & 0xFF)
@@ -53,10 +53,15 @@ def Encode(buf, len, msgId):
         return encodedBuf
 
     @staticmethod
-    def Decode(buf, len):
+    def Decode(buf, length):
+
+        #print(buf)
+        #print(len(buf))
         # Decode the buffer
         decodedBuf = cobs.decode(buf)
 
+        #print(len(decodedBuf))
+
         # Verify the checksum (untested)
         bufChksm = decodedBuf[-2:]
         bufChksm = bufChksm[0] + (bufChksm[1] << 8)

PythonTestProject/Protobuf_parser.py

@@ -49,6 +49,51 @@
 	"RSC_NONE" : ProtoCmd.DMBCommand.RSC_NONE
 }
 
+STRING_TO_PBB_PROTO_COMMAND = {
+	"PBB_NONE": ProtoCmd.PBBCommand.PBB_NONE,
+	"PBB_OPEN_MEV": ProtoCmd.PBBCommand.PBB_OPEN_MEV,
+	"PBB_CLOSE_MEV": ProtoCmd.PBBCommand.PBB_CLOSE_MEV,
+    "PMB_LAST": ProtoCmd.PBBCommand.PMB_LAST,
+}
+
+STRING_TO_RCU_PROTO_COMMAND = {
+	"RCU_NONE": ProtoCmd.RCUCommand.RCU_NONE,
+    "RCU_TARE_NOS1_LOAD_CELL": ProtoCmd.RCUCommand.RCU_TARE_NOS1_LOAD_CELL,
+    "RCU_TARE_NOS2_LOAD_CELL": ProtoCmd.RCUCommand.RCU_TARE_NOS2_LOAD_CELL,
+    "RCU_CAL_NOS1_LOAD_CELL": ProtoCmd.RCUCommand.RCU_CALIBRATE_NOS1_LOAD_CELL,
+    "RCU_CAL_NOS2_LOAD_CELL": ProtoCmd.RCUCommand.RCU_CALIBRATE_NOS2_LOAD_CELL,
+	"RCU_OPEN_AC1": ProtoCmd.RCUCommand.RCU_OPEN_AC1,
+    "RCU_CLOSE_AC1": ProtoCmd.RCUCommand.RCU_CLOSE_AC1,
+	"RCU_OPEN_AC2": ProtoCmd.RCUCommand.RCU_OPEN_AC2,
+    "RCU_CLOSE_AC2": ProtoCmd.RCUCommand.RCU_CLOSE_AC2,
+    "RCU_OPEN_PBV1": ProtoCmd.RCUCommand.RCU_OPEN_PBV1,
+	"RCU_CLOSE_PBV1": ProtoCmd.RCUCommand.RCU_CLOSE_PBV1,
+    "RCU_OPEN_PBV2": ProtoCmd.RCUCommand.RCU_OPEN_PBV2,
+    "RCU_CLOSE_PBV2": ProtoCmd.RCUCommand.RCU_CLOSE_PBV2,
+	"RCU_OPEN_PBV3": ProtoCmd.RCUCommand.RCU_OPEN_PBV3,
+    "RCU_CLOSE_PBV3": ProtoCmd.RCUCommand.RCU_CLOSE_PBV3,
+    "RCU_OPEN_SOL1": ProtoCmd.RCUCommand.RCU_OPEN_SOL1,
+    "RCU_CLOSE_SOL1": ProtoCmd.RCUCommand.RCU_CLOSE_SOL1,
+    "RCU_OPEN_SOL2": ProtoCmd.RCUCommand.RCU_OPEN_SOL2,
+    "RCU_CLOSE_SOL2": ProtoCmd.RCUCommand.RCU_CLOSE_SOL2,
+    "RCU_CLOSE_SOL3": ProtoCmd.RCUCommand.RCU_CLOSE_SOL3,
+    "RCU_OPEN_SOL4": ProtoCmd.RCUCommand.RCU_OPEN_SOL4,
+    "RCU_CLOSE_SOL4": ProtoCmd.RCUCommand.RCU_CLOSE_SOL4,
+    "RCU_OPEN_SOL5": ProtoCmd.RCUCommand.RCU_OPEN_SOL5,
+    "RCU_CLOSE_SOL5": ProtoCmd.RCUCommand.RCU_CLOSE_SOL5,
+    "RCU_OPEN_SOL6": ProtoCmd.RCUCommand.RCU_OPEN_SOL6,
+    "RCU_CLOSE_SOL6": ProtoCmd.RCUCommand.RCU_CLOSE_SOL6,
+    "RCU_OPEN_SOL7": ProtoCmd.RCUCommand.RCU_OPEN_SOL7,
+    "RCU_CLOSE_SOL7": ProtoCmd.RCUCommand.RCU_CLOSE_SOL7,
+    "RCU_OPEN_SOL8A": ProtoCmd.RCUCommand.RCU_OPEN_SOL8A,
+    "RCU_CLOSE_SOL8A": ProtoCmd.RCUCommand.RCU_CLOSE_SOL8A,
+    "RCU_OPEN_SOL8B": ProtoCmd.RCUCommand.RCU_OPEN_SOL8B,
+    "RCU_CLOSE_SOL8B": ProtoCmd.RCUCommand.RCU_CLOSE_SOL8B,
+    "RCU_IGNITE_PAD_BOX1": ProtoCmd.RCUCommand.RCU_IGNITE_PAD_BOX1,
+    "RCU_IGNITE_PAD_BOX2": ProtoCmd.RCUCommand.RCU_IGNITE_PAD_BOX2,
+    "RCU_LAST": ProtoCmd.RCUCommand.RCU_LAST
+}
+
 STRING_TO_SOB_PROTO_COMMAND = {
 	"SOB_NONE": ProtoCmd.SOBCommand.SOB_NONE,
 	"SOB_SLOW_SAMPLE_IR": ProtoCmd.SOBCommand.SOB_SLOW_SAMPLE_IR,
@@ -58,18 +103,20 @@
     "SOB_LAST": ProtoCmd.SOBCommand.SOB_LAST,
 }
 
+#TODO remove drain and vent command from allowed commands
+
 ALLOWED_COMMANDS_FROM_STATE = {
-    'RS_ABORT': ["RSC_ANY_TO_ABORT", "RSC_GOTO_PRELAUNCH"],
-    'RS_ARM': ["RSC_ANY_TO_ABORT", "RSC_POWER_TRANSITION_ONBOARD", "RSC_POWER_TRANSITION_EXTERNAL", "RSC_GOTO_FILL", "RSC_GOTO_IGNITION", "RSC_OPEN_VENT", "RSC_CLOSE_VENT", "RSC_OPEN_DRAIN", "RSC_CLOSE_DRAIN", "RSC_MEV_CLOSE"],
-    'RS_BURN': ["RSC_ANY_TO_ABORT", "RSC_BURN_TO_COAST"],
-    'RS_COAST': ["RSC_ANY_TO_ABORT", "RSC_COAST_TO_DESCENT"],
-    'RS_DESCENT': ["RSC_ANY_TO_ABORT", "RSC_DESCENT_TO_RECOVERY"],
-    'RS_FILL': ["RSC_ANY_TO_ABORT", "RSC_ARM_CONFIRM_1", "RSC_ARM_CONFIRM_2", "RSC_GOTO_ARM", "RSC_GOTO_PRELAUNCH", "RSC_OPEN_VENT", "RSC_CLOSE_VENT", "RSC_OPEN_DRAIN", "RSC_CLOSE_DRAIN", "RSC_MEV_CLOSE"],
-    'RS_IGNITION': ["RSC_ANY_TO_ABORT", "RSC_IGNITION_TO_LAUNCH", "RSC_GOTO_ARM"],
-    'RS_LAUNCH': ["RSC_ANY_TO_ABORT", "RSC_LAUNCH_TO_BURN"],
-    'RS_NONE': ["RSC_ANY_TO_ABORT"],
-    'RS_PRELAUNCH': ["RSC_ANY_TO_ABORT", "RSC_GOTO_FILL", "RSC_OPEN_VENT", "RSC_CLOSE_VENT", "RSC_OPEN_DRAIN", "RSC_CLOSE_DRAIN", "RSC_MEV_CLOSE"],
-    'RS_RECOVERY': ["RSC_ANY_TO_ABORT", "RSC_OPEN_VENT", "RSC_CLOSE_VENT", "RSC_OPEN_DRAIN", "RSC_CLOSE_DRAIN", "RSC_MEV_CLOSE"]
+    'RS_ABORT': ["RSC_ANY_TO_ABORT", "RSC_GOTO_PRELAUNCH", "RSC_CLOSE_DRAIN", "RSC_OPEN_DRAIN", "RSC_CLOSE_VENT", "RSC_OPEN_VENT"],
+    'RS_ARM': ["RSC_ANY_TO_ABORT", "RSC_POWER_TRANSITION_ONBOARD", "RSC_POWER_TRANSITION_EXTERNAL", "RSC_GOTO_FILL", "RSC_GOTO_IGNITION", "RSC_OPEN_VENT", "RSC_CLOSE_VENT", "RSC_OPEN_DRAIN", "RSC_CLOSE_DRAIN", "RSC_MEV_CLOSE", "RSC_CLOSE_DRAIN", "RSC_OPEN_DRAIN", "RSC_CLOSE_VENT", "RSC_OPEN_VENT"],
+    'RS_BURN': ["RSC_ANY_TO_ABORT", "RSC_BURN_TO_COAST", "RSC_CLOSE_DRAIN", "RSC_OPEN_DRAIN", "RSC_CLOSE_VENT", "RSC_OPEN_VENT"],
+    'RS_COAST': ["RSC_ANY_TO_ABORT", "RSC_COAST_TO_DESCENT", "RSC_CLOSE_DRAIN", "RSC_OPEN_DRAIN", "RSC_CLOSE_VENT", "RSC_OPEN_VENT"],
+    'RS_DESCENT': ["RSC_ANY_TO_ABORT", "RSC_DESCENT_TO_RECOVERY", "RSC_CLOSE_DRAIN", "RSC_OPEN_DRAIN", "RSC_CLOSE_VENT", "RSC_OPEN_VENT"],
+    'RS_FILL': ["RSC_ANY_TO_ABORT", "RSC_ARM_CONFIRM_1", "RSC_ARM_CONFIRM_2", "RSC_GOTO_ARM", "RSC_GOTO_PRELAUNCH", "RSC_OPEN_VENT", "RSC_CLOSE_VENT", "RSC_OPEN_DRAIN", "RSC_CLOSE_DRAIN", "RSC_MEV_CLOSE", "RSC_CLOSE_DRAIN", "RSC_OPEN_DRAIN", "RSC_CLOSE_VENT", "RSC_OPEN_VENT"],
+    'RS_IGNITION': ["RSC_ANY_TO_ABORT", "RSC_IGNITION_TO_LAUNCH", "RSC_GOTO_ARM", "RSC_CLOSE_DRAIN", "RSC_OPEN_DRAIN", "RSC_CLOSE_VENT", "RSC_OPEN_VENT"],
+    'RS_LAUNCH': ["RSC_ANY_TO_ABORT", "RSC_LAUNCH_TO_BURN", "RSC_CLOSE_DRAIN", "RSC_OPEN_DRAIN", "RSC_CLOSE_VENT", "RSC_OPEN_VENT"],
+    'RS_NONE': ["RSC_ANY_TO_ABORT", "RSC_CLOSE_DRAIN", "RSC_OPEN_DRAIN", "RSC_CLOSE_VENT", "RSC_OPEN_VENT"],
+    'RS_PRELAUNCH': ["RSC_ANY_TO_ABORT", "RSC_GOTO_FILL", "RSC_OPEN_VENT", "RSC_CLOSE_VENT", "RSC_OPEN_DRAIN", "RSC_CLOSE_DRAIN", "RSC_MEV_CLOSE", "RSC_CLOSE_DRAIN", "RSC_OPEN_DRAIN", "RSC_CLOSE_VENT", "RSC_OPEN_VENT"],
+    'RS_RECOVERY': ["RSC_ANY_TO_ABORT", "RSC_OPEN_VENT", "RSC_CLOSE_VENT", "RSC_OPEN_DRAIN", "RSC_CLOSE_DRAIN", "RSC_MEV_CLOSE", "RSC_CLOSE_DRAIN", "RSC_OPEN_DRAIN", "RSC_CLOSE_VENT", "RSC_OPEN_VENT"]
 }
 
 def coord_parse_json_send(msg):
@@ -83,8 +130,6 @@ def coord_parse_json_send(msg):
 
 def baro_parse_json_send(msg):
     dmb_jsonStr_baro = json.dumps(pbnd.tele_dmb_obj.tele_baro(msg.baro.baro_pressure, msg.baro.baro_temp))
-    #print(msg.baro.baro_pressure)
-    #print(msg.baro.baro_temp)
     client.publish("TELE_DMB_BARO", dmb_jsonStr_baro)
 
 def imu_parse_json_send(msg):
@@ -103,21 +148,25 @@ def flash_parse_json_send(msg):
     client.publish("TELE_DMB_FLASH", dmb_jsonStr_flash)
 
 def pressdmb_parse_json_send(msg):
-    dmb_jsonStr_pressure = json.dumps(pbnd.tele_pbb_obj.tele_pressure(msg.pressdmb.upper_pv_pressure))
+    dmb_jsonStr_pressure = json.dumps(pbnd.tele_dmb_obj.tele_pressure(msg.pressdmb.upper_pv_pressure))
     client.publish("TELE_DMB_PRESSURE", dmb_jsonStr_pressure)
 
 def presspbb_parse_json_send(msg):
     pbb_jsonStr_pressure = json.dumps(pbnd.tele_pbb_obj.tele_pressure(msg.presspbb.ib_pressure, msg.presspbb.lower_pv_pressure))
     client.publish("TELE_PBB_PRESSURE", pbb_jsonStr_pressure)
 
 def temppbb_parse_json_send(msg):
-    pbb_jsonStr_temperature = json.dumps(pbnd.tele_pbb_obj.tele_pressure(msg.temppbb.ib_temperature, msg.temppbb.pv_temperature))
+    pbb_jsonStr_temperature = json.dumps(pbnd.tele_pbb_obj.tele_temp(msg.temppbb.ib_temperature, msg.temppbb.pv_temperature))
     client.publish("TELE_PBB_TEMP", pbb_jsonStr_temperature)
 
 def gpio_parse_json_send(msg):
     pbb_jsonStr_gpio_status = json.dumps(pbnd.tele_pbb_obj.tele_gpio_status(msg.gpio.main_engine_valve_open, msg.gpio.vent_open, msg.gpio.drain_open))
     client.publish("TELE_PBB_GPIO", pbb_jsonStr_gpio_status)
 
+def mevstate_parse_json_send(msg):
+    pbb_jsonStr_mevstate = json.dumps(pbnd.tele_pbb_obj.tele_mevstate(msg.mevstate.mev_open))
+    client.publish("TELE_PBB_MEVSTATE", pbb_jsonStr_mevstate)
+
 def pressrcu_parse_json_send(msg):
     rcu_jsonStr_pressure = json.dumps(pbnd.tele_rcu_obj.tele_pressure(msg.pressrcu.pt1_pressure, msg.pressrcu.pt2_pressure, msg.pressrcu.pt3_pressure, msg.pressrcu.pt4_pressure))
     client.publish("TELE_RCU_PRESSURE", rcu_jsonStr_pressure)
@@ -134,6 +183,7 @@ def relay_parse_json_send(msg):
     rcu_jsonStr_relay_status = json.dumps(pbnd.tele_rcu_obj.tele_relay_status(msg.relay.ac1_open, msg.relay.ac2_open, 
                                                                               msg.relay.pbv1_open, msg.relay.pbv2_open, msg.relay.pbv3_open,
                                                                               msg.relay.sol1_open, msg.relay.sol2_open, msg.relay.sol3_open, msg.relay.sol4_open, msg.relay.sol5_open, msg.relay.sol6_open, msg.relay.sol7_open, msg.relay.sol8a_open, msg.relay.sol8b_open))
+    #print(rcu_jsonStr_relay_status)
     client.publish("TELE_RCU_RELAY", rcu_jsonStr_relay_status)
 
 def padbox_parse_json_send(msg):
@@ -162,6 +212,7 @@ def irtemp_parse_json_send(msg):
     "presspbb": presspbb_parse_json_send,
 	"temppbb": temppbb_parse_json_send,
 	"gpio": gpio_parse_json_send,
+    "mevstate": mevstate_parse_json_send,
 	"pressrcu": pressrcu_parse_json_send,
 	"temprcu": temprcu_parse_json_send,
 	"nos": nos_parse_json_send,

PythonTestProject/Publisher_nodered.py

@@ -11,10 +11,8 @@
 class TELE_DMB:
 	def tele_gps(self, lat_minutes, lat_degrees, long_minutes, long_degrees, antenna_alt, antenna_unit, geoid_altitude, geoid_unit, total_altitude, total_unit, time):
 	    return {
-	        "lat_minutes": str(lat_minutes),
-	        "lat_degrees": str(lat_degrees),
-	        "long_minutes": str(long_minutes),
-	        "long_seconds": str(long_degrees),
+	        "latitude": str(lat_minutes) + "." + str(lat_degrees),
+	        "longitude": str(long_minutes) + "." + str(long_degrees),
 			"ant_altitude": str(antenna_alt),
 			"ant_unit": str(antenna_unit),
 			"geoid_altitude": str(geoid_altitude),
@@ -32,15 +30,9 @@ def tele_baro(self, baro_pressure, baro_temp):
 
 	def tele_imu(self, accel, gyro, mag):
 	    return {
-			"accel_x": str(accel[0]),
-			"accel_y": str(accel[1]),
-			"accel_z": str(accel[2]),
-			"gyro_x": str(gyro[0]),
-			"gyro_y": str(gyro[1]),
-			"gyro_z": str(gyro[2]),
-			"mag_x": str(mag[0]),
-			"mag_y": str(mag[1]),
-			"mag_z": str(mag[2])
+		    "accel": accel,
+			"gyro": gyro,
+			"mag": mag
 	    }
 
 	def tele_battery(self, power_src, bat_volt):
@@ -63,8 +55,8 @@ def tele_pressure(self, upper_pv_pressure):
 class TELE_PBB:
 	def tele_pressure(self, ib_pressure, lower_pv_pressure):
 		return {
-		"ib_pressure": str(ib_pressure),
-		"lower_pv_pressure": str(lower_pv_pressure)
+			"ib_pressure": str(ib_pressure),
+			"lower_pv_pressure": str(lower_pv_pressure)
 		}
 
 	def tele_temp(self, ib_temperature, pv_temperature):
@@ -75,12 +67,23 @@ def tele_temp(self, ib_temperature, pv_temperature):
 
 	def tele_gpio_status(self, main_engine_valve_open, vent_open, drain_open):
 	    return {
-	        "mev_open": str(main_engine_valve_open),
-			"vent_open": str(vent_open),
-			"drain_open": str(drain_open)
+	        "mev_open": main_engine_valve_open,
+			"vent_open": vent_open,
+			"drain_open": drain_open
 	    }
+
+	def tele_mevstate(self, mev_open):
+		return {
+			"mev_open": mev_open
+		}
 
 class TELE_RCU:
+	def __init__(self):
+		self.is_nos1_hold_enable = False
+		self.is_nos2_hold_enable = False
+		self.nos1_hold_mass = 0
+		self.nos2_hold_mass = 0
+
 	def tele_pressure(self, pt1_pressure, pt2_pressure, pt3_pressure, pt4_pressure):
 		return {
 		"pt1_pressure": str(pt1_pressure),
@@ -94,35 +97,54 @@ def tele_temp(self, tc1_temp, tc2_temp):
 	        "tc1_temp": str(tc1_temp),
 	        "tc2_temp": str(tc2_temp)
 	    }
-	
+
 	def tele_nos_load_cell(self, nos1_mass, nos2_mass):
-	    return {
+		nos1_hold_str = "0"
+		nos2_hold_str = "0"
+
+		if self.is_nos1_hold_enable is False:
+			# keep null string but update nos mass
+			self.nos1_hold_mass = nos1_mass
+		else:
+			# replace output string with last held mass
+			nos1_hold_str = str(self.nos1_hold_mass)
+			nos1_mass -= self.nos1_hold_mass
+
+		if self.is_nos2_hold_enable is False:
+			self.nos2_hold_mass = nos2_mass
+		else:
+			nos2_hold_str = str(self.nos2_hold_mass)
+			nos2_mass -= self.nos2_hold_mass
+
+		return {
 	        "nos1_mass": str(nos1_mass),
-	        "nos2_mass": str(nos2_mass)
+	        "nos2_mass": str(nos2_mass),
+			"nos1_hold": nos1_hold_str,
+			"nos2_hold": nos2_hold_str
 	    }
 
 	def tele_relay_status(self, ac1_open, ac2_open, pbv1_open, pbv2_open, pbv3_open, sol1_open, sol2_open, sol3_open, sol4_open, sol5_open, sol6_open, sol7_open, sol8a_open, sol8b_open):
 	    return {
-	        "ac1_open": str(ac1_open),
-	        "ac2_open": str(ac2_open),
-	        "pbv1_open": str(pbv1_open),
-	        "pbv2_open": str(pbv2_open),
-	        "pbv3_open": str(pbv3_open),
-	        "sol1_open": str(sol1_open),
-	        "sol2_open": str(sol2_open),
-			"sol3_open": str(sol3_open),
-			"sol4_open": str(sol4_open),
-			"sol5_open": str(sol5_open),
-			"sol6_open": str(sol6_open),
-			"sol7_open": str(sol7_open),
-			"sol8a_open": str(sol8a_open),
-			"sol8b_open": str(sol8b_open)
+	        "ac1_open": ac1_open,
+	        "ac2_open": ac2_open,
+	        "pbv1_open": pbv1_open,
+	        "pbv2_open": pbv2_open,
+	        "pbv3_open": pbv3_open,
+	        "sol1_open": sol1_open,
+	        "sol2_open": sol2_open,
+			"sol3_open": sol3_open,
+			"sol4_open": sol4_open,
+			"sol5_open": sol5_open,
+			"sol6_open": sol6_open,
+			"sol7_open": sol7_open,
+			"sol8a_open": sol8a_open,
+			"sol8b_open": sol8b_open
 	    }
 
 	def tele_padbox_status(self, cont1, cont2):
 		return {
-			"cont1": str(cont1),
-			"cont2": str(cont2)
+			"cont1": cont1,
+			"cont2": cont2
 		}
 
 class TELE_SOB:
@@ -139,9 +161,10 @@ def tele_temp(self, tc1_temp, tc2_temp):
 
 	def tele_irtemp(self, ambient_temp, object_temp):
 	    return {
-		"ambient_temp": str(ambient_temp),
-		"object_temp": str(object_temp)
+			"ambient_temp": str(ambient_temp),
+			"object_temp": str(object_temp)
 	    }
+
 
 #DMB Telemetry
 tele_dmb_obj = TELE_DMB()