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Indicate reason for pod failures leading to Faulted #111

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merged 5 commits into from
Jun 1, 2024
Merged

Indicate reason for pod failures leading to Faulted #111

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f9c467d
add fault reasons
ryescholin Jun 1, 2024
0b684ed
chk
ryescholin Jun 1, 2024
5a17739
Merge branch 'main' of https://github.com/UCI-HyperXite/hx9-control-s…
ryescholin Jun 1, 2024
00e0f8f
chk
ryescholin Jun 1, 2024
0f49aa7
chk
ryescholin Jun 1, 2024
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7 changes: 7 additions & 0 deletions control-station/src/services/PodSocketClient.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ interface ServerToClientEvents {
connect: () => void;
disconnect: (reason: Socket.DisconnectReason) => void;
serverResponse: (data: string) => void;
faulted: (data: string) => void;
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}

interface Message {
Expand Down Expand Up @@ -55,6 +56,7 @@ class PodSocketClient {
connect: this.onConnect.bind(this),
disconnect: this.onDisconnect.bind(this),
serverResponse: this.onData.bind(this),
faulted: this.onFault.bind(this),
} as const;
this.setPodData = setPodData;
}
Expand Down Expand Up @@ -121,6 +123,11 @@ class PodSocketClient {
console.log("server says", data);
}

private onFault(data: string): void {
console.error("Server faulted with message:", data);
this.addMessage(data, State.Faulted);
}

private addMessage(response: string, newState: State): void {
const timestamp = new Date();
const newMessage = {
Expand Down
20 changes: 15 additions & 5 deletions pod-operation/src/state_machine.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -195,11 +195,6 @@ impl StateMachine {

fn _enter_faulted(&mut self) {
info!("Entering Faulted state");
self.io
.of("/control-station")
.unwrap()
.emit("fault", "123")
.ok();
self.signal_light.disable();
self.brakes.engage();
self.high_voltage_system.disable();
Expand All @@ -221,6 +216,11 @@ impl StateMachine {
}

if self.downstream_pressure_transducer.read_pressure() < MIN_PRESSURE {
self.io
.of("/control-station")
.unwrap()
.emit("fault", "Low pressure detected.")
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.ok();
return State::Faulted;
}
let default_readings = self.lim_temperature_port.read_lim_temps();
Expand All @@ -230,10 +230,20 @@ impl StateMachine {
.chain(alternative_readings.iter())
.any(|&reading| reading > LIM_TEMP_THRESHOLD)
{
self.io
.of("/control-station")
.unwrap()
.emit("fault", "High temperature detected.")
.ok();
return State::Faulted;
}
// Last 20% of the track, as indicated by braking
if self.lidar.read_distance() < END_OF_TRACK {
self.io
.of("/control-station")
.unwrap()
.emit("fault", "End of track detected.")
.ok();
return State::Faulted;
}

Expand Down