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debugging_tab.md

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Debugging, Advanced, and Advanced 2 tabs

The Debugging, Advanced, and Advanced 2 tabs have subtabs that display detailed debugging information and allow

Engineering, Other and Debugging tabs

The Engineering, Other and Debugging tabs have subtabs that display detailed debugging information and allow

master engineers to send low-level commands.

Debugging Tab

3D View

Shows world model and Astrobees. Code in gov.nasa.arc.verve.freeflyer.workbench.parts.liveTelemetryView.Debug3dView.

Config Commander

The Config Commander subtab (gov.nasa.arc.verve.freeflyer.workbench.parts.engineering.ConfigCommanderPart) automatically generates widgets to send any command listed in the CommandConfig message sent by the Astrobee. Select the Astrobee, and then select the subsystem to see the command widgets displayed. There is no error checking for commands sent through the Config Commander.

Top Bar and Standard Controls

Allows user to grab control from the debug tab. Code is at gov.nasa.arc.verve.freeflyer.workbench.parts.standard.TopBar and gov.nasa.arc.verve.freeflyer.workbench.parts.advanced.JustStandardControls

Discovered DDS Info

The Discovered DDS Info subtab (gov.nasa.rapid.v2.ui.e4.parts.DiscoveredDdsInfoPart) lists raw DDS information to help debug DDS connections. Click Topics to list the topics published in each partition on the Discovered Partitions panel. Click Refresh to refresh the information (note, refreshing will add new information but it won't delete stale information).

Received Topics

Code in gov.nasa.arc.verve.freeflyer.workbench.parts.engineering.ReceivedTopicsPart. Click the arrow to the right of the participant/partition to see the list of topics it publishes. Check the checkbox to the left of the topic to see the latest message on that topic in the Raw Rapid Telemetry subtab. Click Refresh to refresh the list of topics.

Raw Rapid Telemetry

Code in gov.nasa.arc.verve.freeflyer.workbench.parts.engineering.RawRapidTelemetryPart. This subtab displays the latest messages on the topics that are checked in the Received Topics subtab.

Engineering Tab

Health subtab

This subtab (gov.nasa.arc.verve.freeflyer.workbench.parts.standard.DetailedHealthAndStatusPart) lists the state information published by Astrobee.

Note that Raw Mobility State "Docking" with Sub Mobility State "0" is "Docked", and Raw Mobility State "Perching" with Sub Mobility State "0" is "Perched". That is to say, there are no states named "Docked" or "Perched", only "Docking 0" and "Perching 0".

Faults subtab

The Faults subtab (gov.nasa.arc.verve.freeflyer.workbench.parts.advanced.FaultsPart) lists all of the faults that Astrobee publishes in its FaultConfig. When the robot throws a fault, that fault is listed under "Triggered" in the table.

Data to GDS 2

Use this subtab (gov.nasa.arc.verve.freeflyer.workbench.parts.advanced.DataToGdsPart2) to set the frequency at which Astrobee sends telemetry to the Control Station (using the SETTINGS_METHOD_SET_TELEMETRY_RATE command). You can also use this tab to configure the cameras on Astrobee (via SETTINGS_METHOD_SET_CAMERA), and start or stop them from streaming images (via SETTINGS_METHOD_SET_CAMERA_STREAMING)

(Regarding the name of the tab, the Control Station is also called "GDS", for "Ground Data System".)

Data To Disk

This subtab (gov.nasa.arc.verve.freeflyer.workbench.parts.advanced.DataToDiskPart) displays the ROS Topics the robot can log (from the DataTopicsList message), and which topics it is logging (from the DataToDiskState message). Click a column heading in the table to sort by that column.

To change which rostopics the Astrobee will log (but not whether Astrobee is currently logging anything), select a configuration file from a dropdown and click the associated "Configure" button. The dropdowns are populated with the names of the files in the DataToDisk folder (see Config Files). There are multiple Configure dropdown-button pairs to make it faster to change between recording profiles. When you click Configure Data, the CompressedFilePublisher compresses and sends the selected json file on topic astrobee_compressed_file-data_to_disk. When the DataToDiskPart receives the CompressedFileAck, it sends DATA_METHOD_SET_DATA_TO_DISK.

To actually start or stop recording data to disk, use the buttons labeled Start Recording and Stop Recording, which send DATA_METHOD_START_RECORDING and DATA_METHOD_STOP_RECORDING commands. Start recording takes a string parameter that is used as part of the filename of the recorded data; enter this parameter in the text box next to the Start Recording button.

Localization Commands

Use this tab (gov.nasa.arc.verve.freeflyer.workbench.parts.advanced.LocalizationCommandsPart) to switch localization methods, reset the EKF, initialize the bias, idle propulsion, or no-op.

Other Tab

Standard Controls

This subtab gov.nasa.arc.verve.freeflyer.workbench.parts.standard.AdminControlPanel. Use it to Grab Control or Stop (same as Station Keep on the other tabs) the Astrobee. The Send Zones button uses the SendZonesManager to send the keepin and keepout zones in the current {world} folder to the robot. The zones are first concatenated into one file, and the file is sent as a Compressed file on topic astrobee_compressed_file-zones. When the SendZonesManager receives a CompressedFileAck, it sends SETTINGS_METHOD_SET_ZONES. The set zones command overwrites the keepin and keepout zones originally on the robot.

Idle propulsion turns off the propulsion units by sending MOBILITY_METHOD_IDLE_PROPULSION. The No-Op and Wipe High Level Processor buttons send ADMIN_METHOD_NOOP and ADMIN_METHOD_WIPE_HLP, respectively. The table displays the content of the CommState message.

Component States

This subtab (gov.nasa.arc.verve.freeflyer.workbench.parts.advanced.ComponentsPart) displays the content from the ComponentConfig and ComponentState message. For each component, it displays whether or not the component is present. If it is present, it displays if it is powered, its temperature and its current draw.

Inertia Properties

This subtab (gov.nasa.arc.verve.freeflyer.workbench.parts.advanced.InertiaPart) displays the contents of the InertialProperties message. To change the inertia properties on the robot, select an inertia configuration from the dropdown that is populated by InertiaConfigurations.json. Click Configure Inertia, which sends SETTINGS_METHOD_SET_INERTIA with the appropriate parameters.

Operating Limits

Code is in gov.nasa.arc.verve.freeflyer.workbench.parts.advanced.OperatingLimitsPart; actually, the StandardControls are created in this class. To set the Operating Limits, select a named configuration in the dropdown, which is populated by OperatingLimitsConfigurations.json. Then click Configure Data, which sends SETTINGS_METHOD_SET_OPERATING_LIMITS with the appropriate parameters.

Power State

This subtab (gov.nasa.arc.verve.freeflyer.workbench.parts.advanced.EpsPart) displays the information from the EpsConfig and EpsState messages.

Camera Streaming Configuration

Use this tab (gov.nasa.arc.verve.freeflyer.workbench.parts.advanced.CameraStreamingConfigurationPart) to adjust settings to stream images to the ground. Make sure that you know the effects of these commands in FSW before using them. (At one point, adjusting streaming settings also changed recording settings.)