bug fixs

Author: lwaghorn

OnLand/ControlLaptop/LocalStorage/ConfigStorage.json

@@ -1 +1 @@
-{"retrieval_timeout": 60000, "telemetry_port": 7000, "command_port": 6000, "heartbeat_timeout": 5000, "pod_address": "127.0.0.1", "pod_driver": "Simulation", "controlLaptopIpAddr": "192.168.0.2"}
+{"retrieval_timeout": 60000, "pod_driver": "Simulation", "controlLaptopIpAddr": "192.168.0.6", "heartbeat_timeout": 5000, "pod_address": "127.0.0.1", "telemetry_port": 7000, "command_port": 6000}

OnPod/FlightComputer/include/States.h

@@ -49,11 +49,9 @@ class PodState{
 
     void armedChecks();
 
-
 protected:
     std::string _currentFailure;
     std::chrono::steady_clock::time_point _enterStateTime;
-    std::chrono::steady_clock::time_point _flightStartTime;
     bool _transitioning = false;
     std::string _transitionReason = "";
     PodStates _stateIdentifier = psBooting;

OnPod/FlightComputer/include/Structs.h

@@ -22,14 +22,14 @@ struct PodValues {
 
     // Flight Profile
     uint32_t motorTorque = 0;
-    uint32_t flightDistance = 0;
+    volatile uint32_t flightDistance = 0;
     uint32_t maxFlightTime = 0;
     uint32_t startTorque = 0;
     uint32_t accelerationTime = 0;
     uint32_t expectedTubePressure = 0;
     uint32_t maxVelocity = 0;
     uint32_t maxRPM = 0;
-    uint32_t brakeDistance = 0;
+    volatile uint32_t brakeDistance = 0;
     uint32_t maxStripCount = 0;
     bool taxi  = false;
 
@@ -47,9 +47,10 @@ struct PodValues {
     std::mutex positionLock;
     float motorDistance = 0;
     float podVelocity = 0;
-    float podPosition = 0;
+    volatile float podPosition = 0;
     int totalStripCount = 0;
     float stripVelocity = 0;
+    std::chrono::steady_clock::time_point flightStartTime;
 
     // Updates
     std::mutex updatesLock;

OnPod/FlightComputer/src/States.cpp

@@ -45,7 +45,7 @@ float PodState::timeInStateSeconds() {
 
 float PodState::timeInFlightSeconds() {
     std::chrono::steady_clock::time_point current = std::chrono::steady_clock::now();
-    return std::chrono::duration_cast<std::chrono::milliseconds>(current - this->_flightStartTime).count()/1000.0;
+    return std::chrono::duration_cast<std::chrono::milliseconds>(current - pod->telemetry->flightStartTime).count()/1000.0;
 }
 
 bool PodState::isNodeSensorCritical(uint32_t sensorIndex) {
@@ -302,6 +302,7 @@ Arming::Arming(TelemetryManager * pod ): PodState(pod) {
     this->pod->telemetry->commandedBrakeNodeState = bnsStandby;
     this->pod->telemetry->commandedLvdcNodeState = lvdcFlight;
     this->pod->telemetry->podPosition = 0.0f;
+    this->pod->telemetry->totalStripCount = 0;
 }
 
 Arming::~Arming() = default;
@@ -410,10 +411,15 @@ bool PreFlight::testTransitions() {
 
 Acceleration::Acceleration(TelemetryManager * pod) : PodState(pod) {
     _stateIdentifier = psAcceleration;
-    this->_flightStartTime = std::chrono::steady_clock::now();
+    pod->telemetry->flightStartTime = std::chrono::steady_clock::now();
     this->pod->telemetry->commandedBrakeNodeState = bnsFlight;
     this->pod->telemetry->commandedLvdcNodeState = lvdcFlight;
     this->pod->telemetry->commandedTorque = this->pod->telemetry->motorTorque;
+
+    volatile uint32_t flightDistance = pod->telemetry->flightDistance;
+    volatile uint32_t brakeDistance = pod->telemetry->brakeDistance;
+
+    LOG(INFO)<< flightDistance << " " << "ACCEL CONSTRUCT" << "  " << brakeDistance;
 }
 
 Acceleration::~Acceleration() {
@@ -487,7 +493,7 @@ bool Coasting::testTransitions() {
     }
 
     if(this->timeInFlightSeconds() > this->pod->telemetry->maxFlightTime ){
-        this->setupTransition(psBraking, (std::string)" Flight Timout of " + std::to_string(this->timeInStateSeconds()) + " reached. Pod --> Braking");
+        this->setupTransition(psBraking, (std::string)" Flight Timout of " + std::to_string(this->timeInFlightSeconds()) + " reached. Pod --> Braking");
         return true;
     }
     return false;
@@ -497,7 +503,7 @@ Coasting::~Coasting() = default;
 
  // *  ******************** BRAKING ***********************
 
-Braking::Braking(TelemetryManager* pod) : PodState(pod) {
+Braking::Braking(TelemetryManager* pod) : PodState(pod){
     _stateIdentifier = psBraking;
     this->pod->telemetry->commandedBrakeNodeState = bnsBraking;
     this->pod->telemetry->commandedLvdcNodeState = lvdcFlight;

OnPod/FlightComputer/src/Threads/CommanderThread.cpp

@@ -97,7 +97,8 @@ void parseProtoCommand(PodCommand podCommand, TelemetryManager *Pod) {
         Pod->telemetry->taxi = podCommand.taxi();
         Pod->telemetry->expectedTubePressure = podCommand.expectedtubepressure();
         Pod->telemetry->maxVelocity = podCommand.maxvelocity();
-        Pod->telemetry->maxRPM = (podCommand.maxvelocity() * 60)/podCommand.maxvelocity();
+        Pod->telemetry->maxRPM = (podCommand.maxvelocity() * 60)/GENERAL_CONSTANTS::REAR_WHEEL_CIRCUMFRENCE;
+        LOG(INFO)<<Pod->telemetry->maxRPM;
         Pod->telemetry->brakeDistance = podCommand.brakingdistance();
         if(!podCommand.taxi()) {
             Pod->telemetry->maxStripCount = ( (Pod->telemetry->flightDistance - Pod->telemetry->brakeDistance) /

OnPod/FlightComputer/src/Threads/NavigationThread.cpp

@@ -51,14 +51,6 @@ int8_t getSerialPort(){
 }
 
 
-void updatePosition(int velocity, int irStripCount, TelemetryManager &pod){
-    pod.telemetry->totalStripCount += irStripCount;
-    float stripDistance = pod.telemetry->totalStripCount * GENERAL_CONSTANTS::STRIP_DISTANCE;
-    pod.setPodDistance( stripDistance );
-    pod.setPodVelocity(velocity/100);
-}
-
-
 void readNavigationNode(int serialPort, TelemetryManager &pod){
     std::stringstream dataStream;
     dataStream.str(std::string());