feature/manta-frank

etc/manta-12.ini

@@ -24,37 +24,166 @@
 # https://github.com/LSTS/dune/blob/master/LICENCE.md and                  #
 # http://ec.europa.eu/idabc/eupl.html.                                     #
 ############################################################################
-# Author: Ricardo Martins                                                  #
+# Author: Pedro Gonçalves                                                  #
+# Author: Bernardo Gabriel                                                 #
 ############################################################################
 
 [Require hardware/lctr-a9xx.ini]
-[Require hardware/radio.ini]
 
 [General]
 Vehicle                                 = manta-12
 
 [Power.MCBv2]
-ADC Reference Voltage                   = 1.1
+Debug Level                             = None
 Drive LCD                               = true
-Power Channel 2 - Name                  = Ethernet Switch
-Power Channel 2 - State                 = 1
-Power Channel 9 - Name                  = N/C (HUB_4)
-Power Channel 9 - State                 = 0
-Power Channel 10 - Name                 = Iridium
-Power Channel 10 - State                = 1
+Use Counter System Off                  = true
+ADC Reference Voltage                   = 1.077
+ADC Channel 1 - Message                 = Current
+ADC Channel 1 - Entity Label            = Charger
+ADC Channel 1 - Conversion              = 9.4908, 0.0
+ADC Channel 3 - Message                 = Current
+ADC Channel 3 - Entity Label            = Main Board
+ADC Channel 3 - Conversion              = 9.4908, 0.0
+# Private channels.
+Power Channel 0 - Name                  = Private (ATX)
+Power Channel 0 - State                 = 1
+Power Channel 8 - Name                  = Private (CPU)
+Power Channel 8 - State                 = 1
+# User controllable channels.
+Power Channel 1 - Name                  = LTE (+12V_2)
+Power Channel 1 - State                 = 1
+Power Channel 3 - Name                  = POE 3
+Power Channel 3 - State                 = 1
+Power Channel 4 - Name                  = POE 2
+Power Channel 4 - State                 = 1
+Power Channel 5 - Name                  = POE 1
+Power Channel 5 - State                 = 1
+Power Channel 6 - Name                  = Modem Power 2
+Power Channel 6 - State                 = 1
+Power Channel 7 - Name                  = Modem Power 1
+Power Channel 7 - State                 = 1
+Power Channel 13 - Name                 = Switch Ethernet
+Power Channel 13 - State                = 1
+# Not connected.
+Power Channel 2 - Name                  = N/C (+12V_1)
+Power Channel 9 - Name                  = N/C (+5V_5)
+Power Channel 10 - Name                 = N/C (+5V_4)
+Power Channel 11 - Name                 = N/C (+5V_3)
+Power Channel 12 - Name                 = N/C (+5V_2)
+Power Channel 14 - Name                 = N/C (Bat_Out_3)
 
+[Sensors.GPS]
+Enabled                                 = Hardware
+Entity Label                            = GPS
+Activation Time                         = 3.0
+IO Port - Device                        = uart:///dev/ttyGPS:115200
+
+[Supervisors.ClockPPS]
+Enabled                                 = Never
+
+[Monitors.Clock]
+Enabled                                 = Hardware
+Entity Label                            = Clock
+Minimum GPS Fixes                       = 30
+Maximum Clock Offset                    = 2
+Boot Synchronization Timeout            = 60
+Hardware Clock Synchronization Command  = hwclock -w
+
+[Transports.MobileInternet]
+Enabled                                 = Never
 
 [Transports.IridiumSBD]
 Enabled                                 = Hardware
+Debug Level                             = None
 Entity Label                            = Iridium Modem
-Serial Port - Device                    = /dev/ttyUSB0
+Serial Port - Device                    = /dev/ttyIRIDIUM
 Serial Port - Baud Rate                 = 19200
+Use 9523N Module                        = false
+Serial Port 9523 - Baud Rate            = 115200
 Mailbox Check - Periodicity             = 1800
 
 [Transports.Iridium]
+Enabled                                 = Hardware
+
+[UserInterfaces.Buttons]
 Enabled                                 = Never
-Entity Label                            = Iridium Transport
-Device updates - Periodicity            = 1200
+
+[UserInterfaces.ButtonsRPI]
+Enabled                                 = Hardware
+Entity Label                            = Buttons RPI
+Debug Level                             = None
+Button 0                                = 17
+Button 1                                = 27
+Button 2                                = 22
+Gpio Work Path                          = /sys/class/gpio/
+
+[UserInterfaces.MantaPanel]
+Enabled                                 = Hardware
+Entity Label                            = Panel
+Command - On Power Down                 = service syslog stop
+Command - On Power Down Abort           = service syslog restart
+Power Channel - CPU                     = System
+
+[Monitors.MantaFuelLevel]
+Enabled                                 = Always
+Execution Frequency                     = 0.2
+Fuel Level 1                            = 29.4
+Fuel Level 2                            = 28.1
+Fuel Level 3                            = 26.8
+Fuel Level 4                            = 24.47
+Fuel Level 5                            = 22.8
+Entity Label - FuelLevel                = FuelLevel
+Entity Label for Main Voltage           = Main Board
+Entity Label for Charger Current        = Charger
+Current Value Charger Reject            = 0.2
+Entity Label                            = Manta Fuel Level
+
+[Sensors.ThermalZone]
+Enabled                                 = Hardware
+Entity Label                            = Thermal Zone
+Execution Frequency                     = 1
+Path                                    = /sys/class/thermal/thermal_zone0/temp
+Entity Label - Temperature              = Mainboard (Core)
+
+[Transports.GSM]
+Enabled                                 = Hardware
+Entity Label                            = GSM
+Activation Time                         = 10
+Deactivation Time                       = 0
+Debug Level                             = None
+Execution Priority                      = 10
+Serial Port - Device                    = /dev/ttyUSB4
+Serial Port - Baud Rate                 = 115200
+Reply Timeout                           = 4.0
+RSSI Periodicity                        = 60
+Read SMS Periodicity                    = 10
+SMS Send Timeout                        = 60
+Request Balance                         = false
+USSD code                               = 111
+
+[Monitors.Emergency]
+Enabled                                 = Hardware
+Entity Label                            = Emergency Monitor
+Execution Frequency                     = 1.0
+Execution Priority                      = 10
+Active                                  = false
+Active - Scope                          = idle
+Active - Visibility                     = user
+Activation Time                         = 0
+Deactivation Time                       = 0
+Lost Communications Timeout             = 60
+Expiration Time - Abort SMS             = 30
+Expiration Time - Lost Communications   = 30
+Transmission Interface                  = GSM
+Debug Level                             = None
+
+[Autonomy.TextActions]
+Enabled                                 = Hardware
+Valid Commands                          = errors,
+                                          info,
+                                          help,
+                                          phone,
+Debug Level                             = None
 
 #[Require hardware/acoustic-modems/uModem_ip_100.ini]
 #[Require hardware/acoustic-modems/uModem_ip_101.ini]
@@ -69,6 +198,5 @@ Device updates - Periodicity            = 1200
 #[Require hardware/acoustic-modems/evologics_ip_5.ini]
 #[Require hardware/acoustic-modems/evologics_ip_6.ini]
 
-# For UPORTO / PT-NAVY joint exercises
-#[Require testing/joint-umodem.ini]
-#[Require testing/joint-evologics.ini]
+[Transports.Seatrac]
+Serial Port - Device                    = /dev/ttyEXT

src/Power/MCBv2/Task.cpp

@@ -66,6 +66,8 @@ namespace Power
     static const unsigned c_pwrs_count = 17;
     //! Id of the backlight power channel.
     static const unsigned c_pwr_blight = 16;
+    //! Minimum of readings before power off system
+    static const unsigned c_minimum_reads_sys_off = 5;
 
     //! Commands to the device.
     enum Commands
@@ -129,6 +131,8 @@ namespace Power
       unsigned pwr_states[c_pwrs_count];
       //! True to drived LCD from MCB.
       bool lcd;
+      //! True to activate counter for system off readings
+      bool counter_sys_off;
     };
 
     struct Task: public Tasks::Task
@@ -153,6 +157,8 @@ namespace Power
       IMC::Message* m_adcs[c_adcs_count];
       //! Power channels by name.
       PowerChannelMap m_pwr_chs;
+      //! Counter to control Power Off
+      uint8_t m_counter_sys_off;
 
       Task(const std::string& name, Tasks::Context& ctx):
         Tasks::Task(name, ctx),
@@ -208,6 +214,10 @@ namespace Power
         .defaultValue("false")
         .description("LCD is controlled by MCB");
 
+        param("Use Counter System Off", m_args.counter_sys_off)
+        .defaultValue("false")
+        .description("True to activate counter for system off readings.");
+
         // Register consumers.
         bind<IMC::LcdControl>(this);
         bind<IMC::PowerChannelControl>(this);
@@ -334,6 +344,8 @@ namespace Power
           else
             controlPowerChannel(itr->second, IMC::PowerChannelControl::PCC_OP_TURN_OFF);
         }
+
+        m_counter_sys_off = 0;
       }
 
       //! Write value to position in a given buffer.
@@ -522,12 +534,34 @@ namespace Power
           // Check power off.
           if ((data[8] & BIT_SW_SYS_ON) == 0)
           {
-            m_pwr_down = true;
-            IMC::PowerOperation pop;
-            pop.setDestination(getSystemId());
-            pop.op = IMC::PowerOperation::POP_PWR_DOWN_IP;
-            pop.time_remain = (float)(data[8] & 0x1F);
-            dispatch(pop);
+            if(m_args.counter_sys_off)
+            {
+              if(m_counter_sys_off >= c_minimum_reads_sys_off)
+              {
+                m_pwr_down = true;
+                IMC::PowerOperation pop;
+                pop.setDestination(getSystemId());
+                pop.op = IMC::PowerOperation::POP_PWR_DOWN_IP;
+                pop.time_remain = (float)(data[8] & 0x1F);
+                dispatch(pop);
+                debug("power down sys");
+              }
+              else
+              {
+                debug("counter int :%d", m_counter_sys_off);
+                m_counter_sys_off++;
+              }
+            }
+            else
+            {
+              m_pwr_down = true;
+              IMC::PowerOperation pop;
+              pop.setDestination(getSystemId());
+              pop.op = IMC::PowerOperation::POP_PWR_DOWN_IP;
+              pop.time_remain = (float)(data[8] & 0x1F);
+              dispatch(pop);
+              debug("power down sys");
+            }
           }
           else if (m_pwr_down)
           {
@@ -536,6 +570,15 @@ namespace Power
             pop.setDestination(getSystemId());
             pop.op = IMC::PowerOperation::POP_PWR_DOWN_ABORTED;
             dispatch(pop);
+            m_counter_sys_off = 0;
+          }
+          else
+          {
+            if(m_counter_sys_off > 0 && m_args.counter_sys_off)
+            {
+              debug("counter reset");
+              m_counter_sys_off = 0;
+            }
           }
         }
         (void)data_size;

src/Transports/CommManager/Task.cpp

@@ -298,7 +298,7 @@ namespace Transports
         if (msg->getDestinationEntity() != getEntityId())
           return;
 
-        auto tr_list = m_router.getList();
+        std::map<uint16_t, IMC::TransmissionRequest*>& tr_list = m_router.getList();
 
         if (tr_list.find(msg->req_id) != tr_list.end())
         {
@@ -349,7 +349,7 @@ namespace Transports
         if (msg->getSource() != getSystemId())
           return;
 
-        auto tr_list = m_router.getList();
+        std::map<uint16_t, IMC::TransmissionRequest*>& tr_list = m_router.getList();
 
         if (tr_list.find(msg->req_id) != tr_list.end())
         {
@@ -399,7 +399,7 @@ namespace Transports
           return;
         }
 
-        auto tr_list = m_router.getList();
+        std::map<uint16_t, IMC::TransmissionRequest*>& tr_list = m_router.getList();
 
         if (tr_list.find(msg->req_id) != tr_list.end())
         {
@@ -617,7 +617,7 @@ namespace Transports
         if (msg->getSource() != getSystemId())
           return;
 
-        auto tr_list = m_router.getList();
+        std::map<uint16_t, IMC::TransmissionRequest*>& tr_list = m_router.getList();
 
         if (tr_list.find(msg->req_id) != tr_list.end())
         {

src/Transports/GSM/Driver.hpp

@@ -345,8 +345,17 @@ namespace Transports
         if (header == "OK")
           return false;
 
+        if (String::startsWith(header, "+CMTI:"))
+        {
+          getTask()->spew("Ignoring unsolicited message notification (+CMTI)");
+          header = readLine();
+        }
+
         if (!String::startsWith(header, "+CMGL:"))
+        {
+          getTask()->spew("Fail: Data string to parse: %s",header.c_str());
           throw Hardware::UnexpectedReply();
+        }
 
         std::vector<std::string> parts;
         String::split(header, ",", parts);

src/Transports/GSM/Task.cpp

@@ -326,13 +326,16 @@ namespace Transports
       void
       processQueue(void)
       {
+        char entity_state_text[128];
         if (m_queue.empty())
         {
-          setEntityState(IMC::EntityState::ESTA_NORMAL, getMessage(Status::CODE_IDLE).c_str());
+          std::sprintf(entity_state_text, "active | %s:%d | queue empty", m_args.uart_dev.c_str(), m_args.uart_baud);
+          setEntityState(IMC::EntityState::ESTA_NORMAL, Utils::String::str(DTR(entity_state_text)));
           return;
         }
 
-        setEntityState(IMC::EntityState::ESTA_NORMAL, getMessage(Status::CODE_ACTIVE).c_str());
+        std::sprintf(entity_state_text, "active | %s:%d | queue size %d", m_args.uart_dev.c_str(), m_args.uart_baud, (int)m_queue.size());
+        setEntityState(IMC::EntityState::ESTA_NORMAL, Utils::String::str(DTR(entity_state_text)));
 
         SmsRequest sms_req = m_queue.top();
         m_queue.pop();
@@ -371,8 +374,7 @@ namespace Transports
             m_rssi_timer.reset();
             m_rssi = m_driver->getRSSI();
           }
-
-          if (m_rsms_timer.overflow())
+          else if (m_rsms_timer.overflow())
           {
             m_rsms_timer.reset();
             m_driver->checkMessages();