Add Antenna Depolyer Param for Startup Sequence (#93)

* add antenna deploy seq, need to fix tests

* fix test

* fix test

* fix test

* Appease Linter

* removed new testing

* idk man

* corrected syntax

* returned the guy

* back cmake

* removing some tests

* up the table size

* fix solar current and another antenna deployment test

* Appease the Linter (Again)

---------

Co-authored-by: Michael Pham <[email protected]>
Co-authored-by: ineskhou <[email protected]>
Co-authored-by: ineskhou <[email protected]>

Author: 3 people

CMakeLists.txt

@@ -34,5 +34,11 @@ fprime_setup_included_code()
 
 # This includes project-wide objects
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FprimeZephyrReference")
+if (FPRIME_USE_POSIX)
+    set_target_properties(Drv_Ip PROPERTIES EXCLUDE_FROM_ALL TRUE)
+    set_target_properties(Drv_TcpServer PROPERTIES EXCLUDE_FROM_ALL TRUE)
+    set_target_properties(Drv_TcpClient PROPERTIES EXCLUDE_FROM_ALL TRUE)
+    set_target_properties(Drv_Udp PROPERTIES EXCLUDE_FROM_ALL TRUE)
+endif()
 set_target_properties(Svc_FatalHandler PROPERTIES EXCLUDE_FROM_ALL TRUE)
 set_target_properties(fprime-zephyr_Drv_ZephyrSpiDriver PROPERTIES EXCLUDE_FROM_ALL TRUE)

FprimeZephyrReference/Components/AntennaDeployer/AntennaDeployer.cpp

@@ -1,5 +1,8 @@
 #include "FprimeZephyrReference/Components/AntennaDeployer/AntennaDeployer.hpp"
 
+#include "Os/File.hpp"
+#include "Os/FileSystem.hpp"
+
 namespace Components {
 
 // ----------------------------------------------------------------------
@@ -61,6 +64,13 @@ void AntennaDeployer ::distanceIn_handler(FwIndexType portNum, F32 distance, boo
 // ----------------------------------------------------------------------
 
 void AntennaDeployer ::DEPLOY_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+    // Check if antenna has already been deployed
+    if (this->readDeploymentState()) {
+        this->log_ACTIVITY_HI_DeploymentAlreadyComplete();
+        this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
+        return;
+    }
+
     if (this->m_state != DeploymentState::IDLE) {
         this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::BUSY);
         return;
@@ -81,6 +91,28 @@ void AntennaDeployer ::DEPLOY_STOP_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
     this->finishDeployment(Components::DeployResult::DEPLOY_RESULT_ABORT);
 }
 
+void AntennaDeployer ::RESET_DEPLOYMENT_STATE_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+    Fw::ParamValid is_valid;
+    auto file_path = this->paramGet_DEPLOYED_STATE_FILE(is_valid);
+    FW_ASSERT(is_valid == Fw::ParamValid::VALID || is_valid == Fw::ParamValid::DEFAULT);
+
+    (void)Os::FileSystem::removeFile(file_path.toChar());
+    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
+}
+
+void AntennaDeployer ::SET_DEPLOYMENT_STATE_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, bool deployed) {
+    if (deployed) {
+        this->writeDeploymentState();
+    } else {
+        Fw::ParamValid is_valid;
+        auto file_path = this->paramGet_DEPLOYED_STATE_FILE(is_valid);
+        FW_ASSERT(is_valid == Fw::ParamValid::VALID || is_valid == Fw::ParamValid::DEFAULT);
+        (void)Os::FileSystem::removeFile(file_path.toChar());
+    }
+
+    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
+}
+
 // ----------------------------------------------------------------------
 // Internal helpers
 // ----------------------------------------------------------------------
@@ -213,6 +245,9 @@ void AntennaDeployer ::finishDeployment(Components::DeployResult result) {
 
     if (result == Components::DeployResult::DEPLOY_RESULT_SUCCESS) {
         this->log_ACTIVITY_HI_DeploySuccess(this->m_currentAttempt);
+
+        // Mark antenna as deployed by writing state file
+        this->writeDeploymentState();
     }
 
     this->log_ACTIVITY_HI_DeployFinish(result, this->m_currentAttempt);
@@ -266,4 +301,31 @@ void AntennaDeployer ::logBurnSignalCount() {
     }
 }
 
+bool AntennaDeployer ::readDeploymentState() {
+    Fw::ParamValid is_valid;
+    auto file_path = this->paramGet_DEPLOYED_STATE_FILE(is_valid);
+    FW_ASSERT(is_valid == Fw::ParamValid::VALID || is_valid == Fw::ParamValid::DEFAULT);
+
+    Os::File file;
+    Os::File::Status status = file.open(file_path.toChar(), Os::File::OPEN_READ);
+    bool deployed = (status == Os::File::OP_OK);
+    (void)file.close();
+    return deployed;
+}
+
+void AntennaDeployer ::writeDeploymentState() {
+    Fw::ParamValid is_valid;
+    auto file_path = this->paramGet_DEPLOYED_STATE_FILE(is_valid);
+    FW_ASSERT(is_valid == Fw::ParamValid::VALID || is_valid == Fw::ParamValid::DEFAULT);
+
+    Os::File file;
+    Os::File::Status status = file.open(file_path.toChar(), Os::File::OPEN_CREATE, Os::File::OVERWRITE);
+    if (status == Os::File::OP_OK) {
+        U8 marker = 1;
+        FwSizeType size = sizeof(marker);
+        (void)file.write(&marker, size);
+    }
+    (void)file.close();
+}
+
 }  // namespace Components

FprimeZephyrReference/Components/AntennaDeployer/AntennaDeployer.fpp

@@ -25,6 +25,14 @@ module Components {
         @ DEPLOY_STOP stops the deployment procedure
         sync command DEPLOY_STOP()
 
+        @ RESET_DEPLOYMENT_STATE resets the deployment state flag for ground testing
+        sync command RESET_DEPLOYMENT_STATE()
+
+        @ SET_DEPLOYMENT_STATE forces the persistent deployment state for ground testing
+        sync command SET_DEPLOYMENT_STATE(
+            deployed: bool @< True to mark as deployed, false to clear the flag
+        )
+
         ######################################################################
         # Telemetry
         ######################################################################
@@ -74,6 +82,11 @@ module Components {
         ) severity activity low \
           format "Burn signal active for {} scheduler ticks"
 
+        @ Emitted when deployment is skipped because antenna was already deployed
+        event DeploymentAlreadyComplete() \
+          severity activity high \
+          format "Antenna deployment skipped - antenna already deployed"
+
         ######################################################################
         # Ports
         ######################################################################
@@ -113,6 +126,9 @@ module Components {
         @ Distance readings below this value (cm) are considered invalid
         param INVALID_THRESHOLD_BOTTOM_CM: F32 default 0.1
 
+        @ File path for persistent deployment state (file exists = deployed)
+        param DEPLOYED_STATE_FILE: string default "/antenna_deployed.bin"
+
         ########################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, Parameters
         ########################################################################

FprimeZephyrReference/Components/AntennaDeployer/AntennaDeployer.hpp

@@ -36,6 +36,8 @@ class AntennaDeployer final : public AntennaDeployerComponentBase {
     // ----------------------------------------------------------------------
     void DEPLOY_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) override;
     void DEPLOY_STOP_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) override;
+    void RESET_DEPLOYMENT_STATE_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) override;
+    void SET_DEPLOYMENT_STATE_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, bool deployed) override;
 
     // ----------------------------------------------------------------------
     // Internal helpers
@@ -53,6 +55,8 @@ class AntennaDeployer final : public AntennaDeployerComponentBase {
     bool isDistanceDeployed(F32 distance);
     void ensureBurnwireStopped();
     void logBurnSignalCount();
+    bool readDeploymentState();
+    void writeDeploymentState();
 
     DeploymentState m_state = DeploymentState::IDLE;
     U32 m_currentAttempt = 0;

FprimeZephyrReference/project/config/CommandDispatcherImplCfg.hpp

@@ -11,7 +11,7 @@
 // Define configuration values for dispatcher
 
 enum {
-    CMD_DISPATCHER_DISPATCH_TABLE_SIZE = 100,  // !< The size of the table holding opcodes to dispatch
+    CMD_DISPATCHER_DISPATCH_TABLE_SIZE = 128,  // !< The size of the table holding opcodes to dispatch
     CMD_DISPATCHER_SEQUENCER_TABLE_SIZE = 10,  // !< The size of the table holding commands in progress
 };
 

FprimeZephyrReference/test/int/antenna_deployer_test.py

@@ -57,7 +57,7 @@ def test_deploy_without_distance_sensor(fprime_test_api: IntegrationTestAPI, sta
     proves_send_and_assert_command(fprime_test_api, f"{antenna_deployer}.DEPLOY")
 
     attempt_event: EventData = fprime_test_api.assert_event(
-        f"{antenna_deployer}.DeployAttempt", args=[1], timeout=5
+        f"{antenna_deployer}.DeployAttempt", timeout=5
     )
     assert attempt_event.args[0].val == 1, (
         "First deployment attempt should be attempt #1"
@@ -98,7 +98,7 @@ def test_change_quiet_time_sec(fprime_test_api: IntegrationTestAPI, start_gds):
 
     # Verify deployment attempt starts after quiet time expires
     attempt_event: EventData = fprime_test_api.assert_event(
-        f"{antenna_deployer}.DeployAttempt", args=[1], timeout=2
+        f"{antenna_deployer}.DeployAttempt", timeout=2
     )
     assert attempt_event.args[0].val == 1, (
         "First deployment attempt should be attempt #1"
@@ -140,7 +140,7 @@ def test_multiple_deploy_attempts(fprime_test_api: IntegrationTestAPI, start_gds
 
     # Verify first attempt
     attempt_event: EventData = fprime_test_api.assert_event(
-        f"{antenna_deployer}.DeployAttempt", args=[1], timeout=5
+        f"{antenna_deployer}.DeployAttempt", timeout=5
     )
     assert attempt_event.args[0].val == 1, "First attempt should be #1"
 
@@ -153,7 +153,7 @@ def test_multiple_deploy_attempts(fprime_test_api: IntegrationTestAPI, start_gds
 
     # Wait for retry delay and verify second attempt
     attempt_event = fprime_test_api.assert_event(
-        f"{antenna_deployer}.DeployAttempt", args=[2], timeout=15
+        f"{antenna_deployer}.DeployAttempt", timeout=15
     )
     assert attempt_event.args[0].val == 2, "Second attempt should be #2"
 
@@ -166,7 +166,7 @@ def test_multiple_deploy_attempts(fprime_test_api: IntegrationTestAPI, start_gds
 
     # Wait for retry delay and verify third attempt
     attempt_event = fprime_test_api.assert_event(
-        f"{antenna_deployer}.DeployAttempt", args=[3], timeout=15
+        f"{antenna_deployer}.DeployAttempt", timeout=15
     )
     assert attempt_event.args[0].val == 3, "Third attempt should be #3"
 
@@ -205,7 +205,7 @@ def test_burn_duration_sec(fprime_test_api: IntegrationTestAPI, start_gds):
 
     # Wait for deployment attempt to start
     attempt_event: EventData = fprime_test_api.assert_event(
-        f"{antenna_deployer}.DeployAttempt", args=[1], timeout=5
+        f"{antenna_deployer}.DeployAttempt", timeout=5
     )
     assert attempt_event.args[0].val == 1, (
         "First deployment attempt should be attempt #1"
@@ -230,3 +230,38 @@ def test_burn_duration_sec(fprime_test_api: IntegrationTestAPI, start_gds):
         f"{antenna_deployer}.DeployFinish", timeout=10
     )
     assert finish_event.args[0].val == "DEPLOY_RESULT_FAILED"
+
+
+def test_deployment_prevention_after_success(
+    fprime_test_api: IntegrationTestAPI, start_gds
+):
+    """Verify that deployment is prevented once the deployed-state flag is asserted and can be reset"""
+
+    # Ensure the persistent flag is cleared before starting
+    proves_send_and_assert_command(
+        fprime_test_api, f"{antenna_deployer}.SET_DEPLOYMENT_STATE", [False]
+    )
+
+    # Force the antenna to appear deployed without completing a deployment cycle
+    proves_send_and_assert_command(
+        fprime_test_api, f"{antenna_deployer}.SET_DEPLOYMENT_STATE", [True]
+    )
+
+    fprime_test_api.clear_histories()
+
+    # Deployment should be skipped immediately
+    proves_send_and_assert_command(fprime_test_api, f"{antenna_deployer}.DEPLOY")
+    fprime_test_api.assert_event(
+        f"{antenna_deployer}.DeploymentAlreadyComplete", timeout=2
+    )
+    # Verify that DeployAttempt event does NOT occur (assert_event will raise AssertionError if event is missing)
+    with pytest.raises(AssertionError):
+        fprime_test_api.assert_event(f"{antenna_deployer}.DeployAttempt", timeout=1)
+
+    # Clear the flag and confirm deployments are permitted again
+    proves_send_and_assert_command(
+        fprime_test_api, f"{antenna_deployer}.SET_DEPLOYMENT_STATE", [False]
+    )
+    fprime_test_api.clear_histories()
+    proves_send_and_assert_command(fprime_test_api, f"{antenna_deployer}.DEPLOY")
+    fprime_test_api.assert_event(f"{antenna_deployer}.DeployAttempt", timeout=5)

FprimeZephyrReference/test/int/power_monitor_test.py

@@ -42,7 +42,7 @@ def test_01_power_manager_telemetry(fprime_test_api: IntegrationTestAPI, start_g
     sol_voltage: ChData = fprime_test_api.assert_telemetry(
         f"{ina219SolManager}.Voltage", start=start, timeout=65
     )
-    sol_current: ChData = fprime_test_api.assert_telemetry(
+    _: ChData = fprime_test_api.assert_telemetry(
         f"{ina219SolManager}.Current", start=start, timeout=65
     )
     _: ChData = fprime_test_api.assert_telemetry(
@@ -54,14 +54,16 @@ def test_01_power_manager_telemetry(fprime_test_api: IntegrationTestAPI, start_g
     sys_current_reading: dict[float] = sys_current.get_val()
     # sys_power_reading: dict[float] = sys_power.get_val()
     sol_voltage_reading: dict[float] = sol_voltage.get_val()
-    sol_current_reading: dict[float] = sol_current.get_val()
+    # sol_current_reading: dict[float] = sol_current.get_val()
     # sol_power_reading: dict[float] = sol_power.get_val()
 
     assert sys_voltage_reading != 0, "System voltage reading should be non-zero"
     assert sys_current_reading != 0, "System current reading should be non-zero"
     # assert sys_power_reading != 0, "System power reading should be non-zero"
     assert sol_voltage_reading != 0, "Solar voltage reading should be non-zero"
-    assert sol_current_reading != 0, "Solar current reading should be non-zero"
+    # Solar current can be 0.0 in valid scenarios (no sunlight, etc.)
+    # Existence is already verified by assert_telemetry() above
+    # assert sol_current_reading != 0, "Solar current reading should be non-zero"
     # assert sol_power_reading != 0, "Solar power reading should be non-zero"
 
 

sequences/startup.seq

@@ -5,8 +5,6 @@ R00:00:00 ReferenceDeployment.antennaDeployer.DEPLOY
 R00:00:00 ReferenceDeployment.startupManager.ARMED_PRM_SET FALSE
 R00:00:00 ReferenceDeployment.startupManager.ARMED_PRM_SAVE
 
-; TODO: ARM antenna deployment
-
 R00:00:00 FileHandling.prmDb.PRM_SAVE_FILE
 
 R00:00:00 ReferenceDeployment.lora.TRANSMIT ENABLED