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ineskhouyudataguyMikefly123Copilot
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Antenna Deployer (#14)
* added burnwire component (2) * impl from sdd * appease linter * Readme with notes to the connecty stuff to be refined and edited and appease linter * added rate group * appease linter * added design review feedback * add antenna deployer component * increase packet size to 8 * fix burnwire test * fix test label * appease linter * resolved conflicts with the radio * Apply suggestions from code review Mostly spelling corrections! Co-authored-by: Copilot <[email protected]> * appease linter * fixing restting of tests * fixed <- * fixed time conversoin test * dploy * changed the defualt * clear history to not get caught in 1 twice * updated sdd * Updated Naming of DeployCount --------- Co-authored-by: Sam S. Yu <[email protected]> Co-authored-by: Michael Pham <[email protected]> Co-authored-by: Copilot <[email protected]>
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‎FprimeZephyrReference/Components/AntennaDeployer/AntennaDeployer.cpp‎

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#include "FprimeZephyrReference/Components/AntennaDeployer/AntennaDeployer.hpp"
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namespace Components {
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// ----------------------------------------------------------------------
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// Component construction and destruction
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// ----------------------------------------------------------------------
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AntennaDeployer ::AntennaDeployer(const char* const compName) : AntennaDeployerComponentBase(compName) {}
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AntennaDeployer ::~AntennaDeployer() {}
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// ----------------------------------------------------------------------
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// Handler implementations for typed input ports
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// ----------------------------------------------------------------------
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void AntennaDeployer ::schedIn_handler(FwIndexType portNum, U32 context) {
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(void)portNum;
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(void)context;
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switch (this->m_state) {
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case DeploymentState::IDLE:
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// Nothing to do
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break;
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case DeploymentState::QUIET_WAIT:
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this->handleQuietWaitTick();
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break;
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case DeploymentState::BURNING:
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this->handleBurningTick();
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break;
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case DeploymentState::RETRY_WAIT:
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this->handleRetryWaitTick();
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break;
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}
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}
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void AntennaDeployer ::distanceIn_handler(FwIndexType portNum, F32 distance, bool valid) {
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(void)portNum;
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this->m_lastDistance = distance;
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this->m_lastDistanceValid = valid && this->isDistanceWithinValidRange(distance);
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if (!this->m_lastDistanceValid) {
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this->log_WARNING_LO_InvalidDistanceMeasurement(distance);
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return;
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}
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this->tlmWrite_LastDistance(distance);
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if (this->m_state == DeploymentState::IDLE) {
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return;
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}
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if (this->isDistanceDeployed(distance)) {
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this->finishDeployment(Components::DeployResult::DEPLOY_RESULT_SUCCESS);
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}
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}
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// ----------------------------------------------------------------------
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// Command handler implementations
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// ----------------------------------------------------------------------
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void AntennaDeployer ::DEPLOY_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
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if (this->m_state != DeploymentState::IDLE) {
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this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::BUSY);
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return;
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}
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this->enterQuietWait();
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this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
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}
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void AntennaDeployer ::DEPLOY_STOP_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
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if (this->m_state == DeploymentState::IDLE) {
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this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
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return;
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}
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this->m_stopRequested = true;
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this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
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this->finishDeployment(Components::DeployResult::DEPLOY_RESULT_ABORT);
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}
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// ----------------------------------------------------------------------
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// Internal helpers
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// ----------------------------------------------------------------------
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void AntennaDeployer ::enterQuietWait() {
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this->resetDeploymentState();
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this->m_state = DeploymentState::QUIET_WAIT;
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this->m_ticksInState = 0;
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this->m_successDetected = false;
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this->m_stopRequested = false;
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Fw::ParamValid valid;
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const U32 quietTime = this->paramGet_QUIET_TIME_SEC(valid);
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if (quietTime == 0U) {
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this->startNextAttempt();
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}
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}
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void AntennaDeployer ::startNextAttempt() {
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this->m_currentAttempt++;
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// Emit quiet time expired event if we're transitioning from QUIET_WAIT state
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// Do this before resetting m_ticksInState so we capture the actual elapsed time
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if (this->m_state == DeploymentState::QUIET_WAIT) {
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this->log_ACTIVITY_HI_QuietTimeExpired(this->m_ticksInState);
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}
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this->m_ticksInState = 0;
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this->m_successDetected = false;
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this->log_ACTIVITY_HI_DeployAttempt(this->m_currentAttempt);
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this->m_totalAttempts++;
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this->tlmWrite_DeployAttemptCount(this->m_totalAttempts);
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if (this->isConnected_burnStart_OutputPort(0)) {
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this->burnStart_out(0);
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}
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this->m_state = DeploymentState::BURNING;
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}
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void AntennaDeployer ::handleQuietWaitTick() {
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this->m_ticksInState++;
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if (this->m_stopRequested) {
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this->finishDeployment(Components::DeployResult::DEPLOY_RESULT_ABORT);
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return;
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}
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Fw::ParamValid valid;
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const U32 quietTime = this->paramGet_QUIET_TIME_SEC(valid);
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if (this->m_ticksInState >= quietTime) {
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this->startNextAttempt();
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}
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}
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void AntennaDeployer ::handleBurningTick() {
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this->m_ticksInState++;
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if (this->m_stopRequested) {
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this->finishDeployment(Components::DeployResult::DEPLOY_RESULT_ABORT);
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return;
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}
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if (this->m_state != DeploymentState::BURNING) {
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return;
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}
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Fw::ParamValid valid;
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const U32 burnDuration = this->paramGet_BURN_DURATION_SEC(valid);
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if (this->m_ticksInState >= burnDuration) {
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this->ensureBurnwireStopped();
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if (this->m_successDetected) {
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this->finishDeployment(Components::DeployResult::DEPLOY_RESULT_SUCCESS);
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return;
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}
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Fw::ParamValid attemptsValid;
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const U32 maxAttempts = this->paramGet_MAX_DEPLOY_ATTEMPTS(attemptsValid);
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if (this->m_currentAttempt >= maxAttempts) {
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this->finishDeployment(Components::DeployResult::DEPLOY_RESULT_FAILED);
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return;
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}
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this->m_state = DeploymentState::RETRY_WAIT;
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this->m_ticksInState = 0;
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}
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}
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void AntennaDeployer ::handleRetryWaitTick() {
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this->m_ticksInState++;
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if (this->m_stopRequested) {
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this->finishDeployment(Components::DeployResult::DEPLOY_RESULT_ABORT);
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return;
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}
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if (this->m_successDetected) {
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this->finishDeployment(Components::DeployResult::DEPLOY_RESULT_SUCCESS);
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return;
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}
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Fw::ParamValid valid;
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const U32 retryDelay = this->paramGet_RETRY_DELAY_SEC(valid);
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if (retryDelay == 0U || this->m_ticksInState >= retryDelay) {
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Fw::ParamValid attemptsValid;
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const U32 maxAttempts = this->paramGet_MAX_DEPLOY_ATTEMPTS(attemptsValid);
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if (this->m_currentAttempt >= maxAttempts) {
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this->finishDeployment(Components::DeployResult::DEPLOY_RESULT_FAILED);
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return;
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}
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this->startNextAttempt();
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}
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}
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void AntennaDeployer ::finishDeployment(Components::DeployResult result) {
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if (this->m_state == DeploymentState::IDLE) {
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return;
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}
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this->ensureBurnwireStopped();
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if (result == Components::DeployResult::DEPLOY_RESULT_SUCCESS) {
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this->log_ACTIVITY_HI_DeploySuccess(this->m_currentAttempt);
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}
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this->log_ACTIVITY_HI_DeployFinish(result, this->m_currentAttempt);
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this->resetDeploymentState();
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}
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void AntennaDeployer ::resetDeploymentState() {
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this->m_state = DeploymentState::IDLE;
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this->m_currentAttempt = 0;
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this->m_ticksInState = 0;
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this->m_stopRequested = false;
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this->m_successDetected = false;
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this->m_lastDistanceValid = false;
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}
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bool AntennaDeployer ::isDistanceWithinValidRange(F32 distance) {
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Fw::ParamValid topValid;
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const F32 top = this->paramGet_INVALID_THRESHOLD_TOP_CM(topValid);
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Fw::ParamValid bottomValid;
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const F32 bottom = this->paramGet_INVALID_THRESHOLD_BOTTOM_CM(bottomValid);
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return (distance <= top) && (distance >= bottom);
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}
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bool AntennaDeployer ::isDistanceDeployed(F32 distance) {
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Fw::ParamValid valid;
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const F32 threshold = this->paramGet_DEPLOYED_THRESHOLD_CM(valid);
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if (distance <= threshold) {
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this->m_successDetected = true;
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return true;
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}
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return false;
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}
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void AntennaDeployer ::ensureBurnwireStopped() {
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if (this->isConnected_burnStop_OutputPort(0)) {
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this->burnStop_out(0);
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}
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}
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} // namespace Components

‎FprimeZephyrReference/Components/AntennaDeployer/AntennaDeployer.fpp‎

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module Components {
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enum DeployResult {
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DEPLOY_RESULT_SUCCESS @< Deployment completed successfully
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DEPLOY_RESULT_ABORT @< Deployment aborted via command
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DEPLOY_RESULT_FAILED @< Deployment failed after exhausting retries
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}
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}
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module Components {
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port DistanceUpdate(
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distance: F32 @< Latest measured distance in centimeters
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valid: bool @< Flag indicating the distance value is considered valid
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)
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}
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module Components {
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@ Component that deploys the antenna, activates the burnwire, checks the distance sensor
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passive component AntennaDeployer {
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######################################################################
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# Commands
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######################################################################
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@ DEPLOY starts the deployment procedure
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sync command DEPLOY()
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@ DEPLOY_STOP stops the deployment procedure
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sync command DEPLOY_STOP()
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######################################################################
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# Telemetry
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######################################################################
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@ Counts the number of deployment attempts across boots
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telemetry DeployAttemptCount: U32
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@ Tracks the last observed distance reading
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telemetry LastDistance: F32 format "{.2f}cm"
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######################################################################
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# Events
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######################################################################
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@ Emitted at the start of each deployment attempt
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event DeployAttempt(
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attempt: U32 @< The attempt number (starting at 1)
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) severity activity high \
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format "Antenna deployment attempt {} started"
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@ Emitted when the antenna deployment is considered successful
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event DeploySuccess(
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attempt: U32 @< Attempt number that succeeded
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) severity activity high \
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format "Antenna deployment succeeded on attempt {}"
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@ Emitted when the deployment procedure finishes
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event DeployFinish(
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result: Components.DeployResult @< Final deployment outcome
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attempts: U32 @< Number of attempts completed
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) severity activity high \
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format "Antenna deployment finished with result {} after {} attempts"
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@ Emitted when a distance reading is ignored because it is invalid
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event InvalidDistanceMeasurement(
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distance: F32 @< Distance provided
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) severity warning low \
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format "Ignoring invalid antenna distance measurement: {.2f} cm"
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@ Emitted when the quiet wait period expires and deployment attempt begins
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event QuietTimeExpired(
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elapsedTime: U32 @< Time elapsed in seconds during quiet wait
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) severity activity high \
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format "Quiet time expired after {} seconds, starting deployment attempt"
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######################################################################
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# Ports
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######################################################################
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@ Port receiving calls from the rate group
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sync input port schedIn: Svc.Sched
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@ Port receiving latest distance measurements
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sync input port distanceIn: Components.DistanceUpdate
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@ Port signaling the burnwire component to start heating
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output port burnStart: Fw.Signal
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@ Port signaling the burnwire component to stop heating
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output port burnStop: Fw.Signal
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######################################################################
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# Parameters
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######################################################################
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@ Quiet time (seconds) to wait after DEPLOY before the first burn attempt
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param QUIET_TIME_SEC: U32 default 120
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@ Delay (seconds) between burn attempts
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param RETRY_DELAY_SEC: U32 default 30
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@ Maximum number of burn attempts before giving up
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param MAX_DEPLOY_ATTEMPTS: U32 default 3
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@ Duration (seconds) for which to hold each burn attempt before issuing STOP
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param BURN_DURATION_SEC: U32 default 8
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@ Distance threshold (cm) under which the antenna is considered deployed
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param DEPLOYED_THRESHOLD_CM: F32 default 5.0
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@ Distance readings above this value (cm) are considered invalid
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param INVALID_THRESHOLD_TOP_CM: F32 default 500.0
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@ Distance readings below this value (cm) are considered invalid
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param INVALID_THRESHOLD_BOTTOM_CM: F32 default 0.1
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########################################################################
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# Standard AC Ports: Required for Channels, Events, Commands, Parameters
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########################################################################
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@ Port for requesting the current time
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time get port timeCaller
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@ Port for sending command registrations
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command reg port cmdRegOut
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@ Port for receiving commands
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command recv port cmdIn
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@ Port for sending command responses
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command resp port cmdResponseOut
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@ Port for sending textual representation of events
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text event port logTextOut
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@ Port for sending events to downlink
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event port logOut
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@ Port for sending telemetry channels to downlink
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telemetry port tlmOut
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@ Port to return the value of a parameter
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param get port prmGetOut
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@ Port to set the value of a parameter
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param set port prmSetOut
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}
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}

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