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Merge pull request #216 from PlanetaryRobotics/rc9/cwcolomb/133-make-…
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…groundinterface-auto-switch-to-wifi-mode-when-connected

RC9: 133 make groundinterface auto switch to wifi mode when connected
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@zCoCo
zCoCo authored Apr 9, 2023
2 parents 4195199 + 746917a commit 609f431
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Showing 16 changed files with 954 additions and 710 deletions.
4 changes: 2 additions & 2 deletions Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/Version.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
*****************************************************************************/

static const unsigned VERSION_MAJOR = 9; // Version: ++ when drafting a new Release Candidate (for a new upload opportunity)
static const unsigned VERSION_MINOR = 1; // Subversion: ++ when a new major feature has been added / made to work
static const unsigned VERSION_REVISION = 1; // Patch: ++ when you make a change and want to reflect that.
static const unsigned VERSION_MINOR = 2; // Subversion: ++ when a new major feature has been added / made to work
static const unsigned VERSION_REVISION = 0; // Patch: ++ when you make a change and want to reflect that.

#endif // _VERSION_H_
113 changes: 82 additions & 31 deletions Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,8 +111,26 @@ namespace CubeRover
void GroundInterfaceComponentImpl::schedIn_handler(
NATIVE_INT_TYPE portNum, /*!< The port number*/
NATIVE_UINT_TYPE context /*!< The call order*/
){
)
{
// Downlink a new Name or Message if allowed (and it's time):
this->downlinkNameOrMessageIfAllowed(getTime().get_time_ms());

// Automatically switch network mode if allowed:
if (m_auto_switch_allowed)
{
Wf121::DirectMessage::RadioSwState radio_state = networkManager.m_pRadioDriver->m_networkInterface.m_protectedRadioStatus.getRadioState();
if (m_interface_port_num != WF121 && radio_state == Wf121::DirectMessage::RadioSwState::UDP_CONNECTED)
{
log_ACTIVITY_HI_InterfaceAutoSwitch(static_cast<FromInterface>(m_interface_port_num), static_cast<ToInterface>(WF121));
Switch_Primary_Interface(WF121);
}
else if (m_interface_port_num != WATCHDOG && radio_state != Wf121::DirectMessage::RadioSwState::UDP_CONNECTED)
{
log_ACTIVITY_HI_InterfaceAutoSwitch(static_cast<FromInterface>(m_interface_port_num), static_cast<ToInterface>(WATCHDOG));
Switch_Primary_Interface(WATCHDOG);
}
}
}

void GroundInterfaceComponentImpl ::
Expand Down Expand Up @@ -204,7 +222,8 @@ namespace CubeRover
// ! (do this to avoid maxing out the radio Tx queue):
flushTlmDownlinkBuffer(); // FLUSH BUFFER TO GET PACKET OUT
int startUdpTxCount = networkManager.m_pRadioDriver->m_networkInterface.m_protectedRadioStatus.getUdpTxPacketCount();
while(startUdpTxCount == networkManager.m_pRadioDriver->m_networkInterface.m_protectedRadioStatus.getUdpTxPacketCount() && networkManager.m_pRadioDriver->m_networkInterface.udpTxQueueRoom() < 1){
while (startUdpTxCount == networkManager.m_pRadioDriver->m_networkInterface.m_protectedRadioStatus.getUdpTxPacketCount() && networkManager.m_pRadioDriver->m_networkInterface.udpTxQueueRoom() < 1)
{
vTaskDelay(10 / portTICK_PERIOD_MS); // Check back in 10ms
}
}
Expand Down Expand Up @@ -239,7 +258,8 @@ namespace CubeRover
// !Forcibly halt the idle thread until Wf121TxTask sends the packet (tx count goes up):
// ! (do this to avoid maxing out the radio Tx queue):
int startUdpTxCount = networkManager.m_pRadioDriver->m_networkInterface.m_protectedRadioStatus.getUdpTxPacketCount();
while(startUdpTxCount == networkManager.m_pRadioDriver->m_networkInterface.m_protectedRadioStatus.getUdpTxPacketCount() && networkManager.m_pRadioDriver->m_networkInterface.udpTxQueueRoom() < 1){
while (startUdpTxCount == networkManager.m_pRadioDriver->m_networkInterface.m_protectedRadioStatus.getUdpTxPacketCount() && networkManager.m_pRadioDriver->m_networkInterface.udpTxQueueRoom() < 1)
{
vTaskDelay(10 / portTICK_PERIOD_MS); // Check back in 10ms
}
}
Expand Down Expand Up @@ -314,15 +334,8 @@ namespace CubeRover
updateTelemetry();
}

// ----------------------------------------------------------------------
// Command handler implementations
// ----------------------------------------------------------------------

void GroundInterfaceComponentImpl ::
Set_Primary_Interface_cmdHandler(
const FwOpcodeType opCode,
const U32 cmdSeq,
PrimaryInterface primary_interface)
Switch_Primary_Interface(PrimaryInterface primary_interface)
{
flushTlmDownlinkBuffer();
// TODO: Should probably flush file downlink buffers too
Expand All @@ -339,6 +352,42 @@ namespace CubeRover
}
m_tlmDownlinkBufferSpaceAvailable = m_downlink_objects_size;
m_interface_port_num = primary_interface;
}

void GroundInterfaceComponentImpl::Set_Interface_Auto_Switch(bool on)
{
m_auto_switch_allowed = on;
log_ACTIVITY_HI_InterfaceAutoSwitchChanged(on);
}

// ----------------------------------------------------------------------
// Command handler implementations
// ----------------------------------------------------------------------

void GroundInterfaceComponentImpl ::
Set_Primary_Interface_cmdHandler(
const FwOpcodeType opCode,
const U32 cmdSeq,
PrimaryInterface primary_interface)
{
// If the primary interface is being manually changed, turn off
// auto-switch (and do this before the interface change so the event
// goes out on the old interface).
Set_Interface_Auto_Switch(false);
// Change interface:
Switch_Primary_Interface(primary_interface);
this->cmdResponse_out(opCode, cmdSeq, Fw::COMMAND_OK);
}

//! Handler for command SetInterfaceAutoSwitch
/* Turn ON/OFF whether Hercules is allowed to automatically switch its
primary network interface based on connection status. Default is ON. */
void GroundInterfaceComponentImpl::SetInterfaceAutoSwitch_cmdHandler(
FwOpcodeType opCode, /*!< The opcode*/
U32 cmdSeq, /*!< The command sequence number*/
bool on)
{
Set_Interface_Auto_Switch(on);
this->cmdResponse_out(opCode, cmdSeq, Fw::COMMAND_OK);
}

Expand All @@ -356,25 +405,25 @@ namespace CubeRover
/* Turn ON/OFF whether names and messages should be downlinked. Default is ON. */
void GroundInterfaceComponentImpl::RollCredits_cmdHandler(
FwOpcodeType opCode, /*!< The opcode*/
U32 cmdSeq, /*!< The command sequence number*/
bool on
){
U32 cmdSeq, /*!< The command sequence number*/
bool on)
{
// Set allowed state:
m_namesAndMessagesAllowed = on;
// Reset awaiting status:
m_awaitingNameOrMessageDownlink = false;
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
this->cmdResponse_out(opCode, cmdSeq, Fw::COMMAND_OK);
}

//! Handler for command Set_NameAndMessage_Period
/* Set how many seconds (minimum) should occur between each name/message downlink. Min is 1. */
void GroundInterfaceComponentImpl::Set_NameAndMessage_Period_cmdHandler(
FwOpcodeType opCode, /*!< The opcode*/
U32 cmdSeq, /*!< The command sequence number*/
U16 seconds
){
U32 cmdSeq, /*!< The command sequence number*/
U16 seconds)
{
m_nameOrMessageDownlinkPeriod_ms = seconds * 1000;
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
this->cmdResponse_out(opCode, cmdSeq, Fw::COMMAND_OK);
}

/*
Expand Down Expand Up @@ -532,17 +581,19 @@ namespace CubeRover
downlinkBufferWrite(&metadata, static_cast<FswPacket::Length_t>(sizeof(metadata)), DownlinkFile);
}

void GroundInterfaceComponentImpl::downlinkNameCoreImpl(const char * pHead){
// Convert to FW string and emit the log:
Fw::LogStringArg name(pHead);
this->log_ACTIVITY_LO_BroughtToYouBy(name);
}

void GroundInterfaceComponentImpl::downlinkMessageCoreImpl(const char * pMessagerString, const char * pMessageString){
// Convert to FW strings and emit the log:
Fw::LogStringArg messager(pMessagerString);
Fw::LogStringArg message(pMessageString);
this->log_ACTIVITY_LO_SpecialMessage(messager, message);
}
void GroundInterfaceComponentImpl::downlinkNameCoreImpl(const char *pHead)
{
// Convert to FW string and emit the log:
Fw::LogStringArg name(pHead);
this->log_ACTIVITY_LO_BroughtToYouBy(name);
}

void GroundInterfaceComponentImpl::downlinkMessageCoreImpl(const char *pMessagerString, const char *pMessageString)
{
// Convert to FW strings and emit the log:
Fw::LogStringArg messager(pMessagerString);
Fw::LogStringArg message(pMessageString);
this->log_ACTIVITY_LO_SpecialMessage(messager, message);
}

} // end namespace CubeRover
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