Pressure-based State Machine for Propulsion System. More...

#include <PressureStateMachine.hpp>

Collaboration diagram for fsw::control::PressureStateMachine:

Classes
struct	PressureReadings
	Pressure sensor readings. More...
struct	PressureThresholds
	Configuration for pressure thresholds. More...

Public Types
enum class	SystemState { DEBUG_STATE , IDLE , ARMED , FUEL_FILL , OX_FILL , GN2_LOW_PRESS , GN2_VENT , FUEL_PRESS , FUEL_VENT , OX_PRESS , OX_VENT , GN2_HIGH_PRESS , GN2_HIGH_VENT , VENT , CALIBRATE , READY , FIRE , ABORT }
	System states matching the state machine diagram. More...
enum class	ActuatorID { LOX_MAIN = 0 , FUEL_MAIN = 1 , LOX_VENT = 2 , FUEL_VENT = 3 , LOX_PRESS = 4 , FUEL_PRESS = 5 , PRESSURE_VENT = 6 }
	Actuator identifiers matching config. More...
enum class	CommandType : uint8_t { OPEN = 1 , CLOSE = 2 , PULSE = 3 , SET_POSITION = 4 }
	Command types for actuators. More...

Public Member Functions
	PressureStateMachine ()
	~PressureStateMachine ()
bool	initialize (std::shared_ptr< elodin::ElodinClient > elodin_client, std::shared_ptr< config::BoardDiscovery > board_discovery, const PressureThresholds &thresholds)
	Initialize the state machine.
void	start ()
	Start the state machine.
void	stop ()
	Stop the state machine.
SystemState	getCurrentState () const
	Get current state.
std::string	getCurrentStateName () const
	Get current state name as string.
bool	requestTransition (SystemState target_state)
	Request transition to a specific state (manual override).
void	requestAbort ()
	Request abort.
PressureReadings	getLatestPressures () const
	Get latest pressure readings.

Private Member Functions
void	stateMachineLoop ()
	Main state machine loop.
void	readPressureData ()
	Read pressure data from Elodin.
void	checkTransitions ()
	Check transition conditions based on current state and pressures.
void	executeStateEntryActions (SystemState state)
	Execute state entry actions.
void	executeStateActions (SystemState state)
	Execute state actions (while in state).
void	sendActuatorCommand (ActuatorID actuator, CommandType command, float value=0.0f)
	Send actuator command.
uint16_t	actuatorToMessageID (ActuatorID actuator) const
	Convert actuator ID to message ID from config.
void	sendActuatorCommandUDP (ActuatorID actuator, CommandType command, float value=0.0f)
	Send actuator command via UDP to board.
void	registerPSMVTables ()
	Register Elodin VTables for PSM actuator commands and state transitions.
std::pair< std::string, uint16_t >	getActuatorBoardAddress (ActuatorID actuator) const
	Get board IP and port for actuator.

Private Attributes
std::atomic< bool >	running_
std::atomic< SystemState >	current_state_
std::atomic< bool >	abort_requested_
std::chrono::steady_clock::time_point	state_entry_time_
std::shared_ptr< elodin::ElodinClient >	elodin_client_
std::shared_ptr< config::BoardDiscovery >	board_discovery_
std::unique_ptr< daq_comms::transport::UDPSocket >	command_socket_
std::string	actuator_board_ip_
uint16_t	actuator_board_port_
std::mutex	pressure_mutex_
PressureReadings	latest_pressures_
PressureThresholds	thresholds_
uint16_t	pt_hp_message_id_ = 0x2016
uint16_t	pt_lp_message_id_ = 0x2011
uint16_t	pt_fup_message_id_ = 0x2011
uint16_t	pt_fdp_message_id_ = 0x2013
uint16_t	pt_oup_message_id_ = 0x2015
uint16_t	pt_odp_message_id_ = 0x2017
std::map< ActuatorID, uint16_t >	actuator_message_ids_
std::thread	state_machine_thread_
std::mutex	state_mutex_
std::chrono::milliseconds	state_machine_period_ {100}
std::chrono::milliseconds	pressure_read_period_ {50}

Detailed Description

Pressure-based State Machine for Propulsion System.

Reads pressure data from Elodin and sends actuator commands based on state transitions. Implements the propulsion system state machine with pressure-based transitions.

Definition at line 26 of file PressureStateMachine.hpp.

Member Enumeration Documentation

◆ ActuatorID

enum class fsw::control::PressureStateMachine::ActuatorID

strong

Actuator identifiers matching config.

Enumerator
LOX_MAIN
FUEL_MAIN
LOX_VENT
FUEL_VENT
LOX_PRESS
FUEL_PRESS
PRESSURE_VENT

Definition at line 55 of file PressureStateMachine.hpp.

◆ CommandType

enum class fsw::control::PressureStateMachine::CommandType : uint8_t

strong

Command types for actuators.

Enumerator
OPEN
CLOSE
PULSE
SET_POSITION

Definition at line 68 of file PressureStateMachine.hpp.

◆ SystemState

enum class fsw::control::PressureStateMachine::SystemState

strong

System states matching the state machine diagram.

Enumerator
DEBUG_STATE
IDLE
ARMED
FUEL_FILL
OX_FILL
GN2_LOW_PRESS
GN2_VENT
FUEL_PRESS
FUEL_VENT
OX_PRESS
OX_VENT
GN2_HIGH_PRESS
GN2_HIGH_VENT
VENT
CALIBRATE
READY
FIRE
ABORT

Definition at line 31 of file PressureStateMachine.hpp.

Constructor & Destructor Documentation

◆ PressureStateMachine()

fsw::control::PressureStateMachine::PressureStateMachine ( )

Definition at line 23 of file PressureStateMachine.cpp.

References abort_requested_, actuator_message_ids_, current_state_, FUEL_MAIN, FUEL_PRESS, FUEL_VENT, IDLE, LOX_MAIN, LOX_PRESS, LOX_VENT, PRESSURE_VENT, running_, and state_entry_time_.

◆ ~PressureStateMachine()

fsw::control::PressureStateMachine::~PressureStateMachine ( )

Definition at line 38 of file PressureStateMachine.cpp.

References stop().

Member Function Documentation

◆ actuatorToMessageID()

uint16_t fsw::control::PressureStateMachine::actuatorToMessageID ( ActuatorID actuator ) const

private

Convert actuator ID to message ID from config.

Definition at line 721 of file PressureStateMachine.cpp.

References actuator_message_ids_.

Referenced by sendActuatorCommand().

◆ checkTransitions()

void fsw::control::PressureStateMachine::checkTransitions ( )

private

Check transition conditions based on current state and pressures.

Definition at line 307 of file PressureStateMachine.cpp.

References ABORT, abort_requested_, CALIBRATE, current_state_, executeStateEntryActions(), FUEL_PRESS, fsw::control::PressureStateMachine::PressureReadings::fuel_pressure_psi, FUEL_VENT, GN2_HIGH_PRESS, GN2_HIGH_VENT, GN2_LOW_PRESS, fsw::control::PressureStateMachine::PressureReadings::gn2_pressure_psi, GN2_VENT, latest_pressures_, lock, OX_PRESS, fsw::control::PressureStateMachine::PressureReadings::ox_pressure_psi, OX_VENT, pressure_mutex_, state_entry_time_, state_mutex_, thresholds_, fsw::control::PressureStateMachine::PressureReadings::valid, and VENT.

Referenced by stateMachineLoop().

◆ executeStateActions()

void fsw::control::PressureStateMachine::executeStateActions ( SystemState state )

private

Execute state actions (while in state).

Definition at line 607 of file PressureStateMachine.cpp.

References state.

Referenced by stateMachineLoop().

◆ executeStateEntryActions()

void fsw::control::PressureStateMachine::executeStateEntryActions ( SystemState state )

private

Execute state entry actions.

Definition at line 457 of file PressureStateMachine.cpp.

References ABORT, abort_requested_, ARMED, CLOSE, current_state_, elodin_client_, comms::CommsMessage< Fields >::fields, FIRE, FUEL_FILL, FUEL_MAIN, FUEL_PRESS, FUEL_VENT, getCurrentStateName(), GN2_HIGH_PRESS, GN2_HIGH_VENT, GN2_LOW_PRESS, GN2_VENT, LOX_MAIN, LOX_PRESS, LOX_VENT, OPEN, OX_FILL, OX_PRESS, OX_VENT, PRESSURE_VENT, READY, sendActuatorCommand(), state, and VENT.

Referenced by checkTransitions(), requestAbort(), and requestTransition().

◆ getActuatorBoardAddress()

std::pair< std::string, uint16_t > fsw::control::PressureStateMachine::getActuatorBoardAddress ( ActuatorID actuator ) const

private

Get board IP and port for actuator.

Definition at line 696 of file PressureStateMachine.cpp.

References board(), board_discovery_, and fsw::daq_wire::kActuator.

Referenced by initialize().

◆ getCurrentState()

PressureStateMachine::SystemState fsw::control::PressureStateMachine::getCurrentState ( ) const

Get current state.

Definition at line 120 of file PressureStateMachine.cpp.

References current_state_.

◆ getCurrentStateName()

std::string fsw::control::PressureStateMachine::getCurrentStateName ( ) const

Get current state name as string.

Definition at line 124 of file PressureStateMachine.cpp.

References ABORT, ARMED, CALIBRATE, current_state_, DEBUG_STATE, FIRE, FUEL_FILL, FUEL_PRESS, FUEL_VENT, GN2_HIGH_PRESS, GN2_HIGH_VENT, GN2_LOW_PRESS, GN2_VENT, IDLE, OX_FILL, OX_PRESS, OX_VENT, READY, and VENT.

Referenced by executeStateEntryActions(), and requestTransition().

◆ getLatestPressures()

PressureStateMachine::PressureReadings fsw::control::PressureStateMachine::getLatestPressures ( ) const

Get latest pressure readings.

Definition at line 213 of file PressureStateMachine.cpp.

References latest_pressures_, lock, and pressure_mutex_.

◆ initialize()

bool fsw::control::PressureStateMachine::initialize	(	std::shared_ptr< elodin::ElodinClient >	elodin_client,
		std::shared_ptr< config::BoardDiscovery >	board_discovery,
		const PressureThresholds &	thresholds )

Initialize the state machine.

Parameters

elodin_client	Connected Elodin client for reading pressure data
board_discovery	Board discovery instance for getting board IPs
thresholds	Pressure thresholds configuration

Returns: true if initialization successful

Definition at line 42 of file PressureStateMachine.cpp.

References abort_requested_, actuator_board_ip_, actuator_board_port_, board_discovery_, command_socket_, current_state_, elodin_client_, getActuatorBoardAddress(), IDLE, LOX_MAIN, registerPSMVTables(), and thresholds_.

◆ readPressureData()

void fsw::control::PressureStateMachine::readPressureData ( )

private

Read pressure data from Elodin.

Definition at line 240 of file PressureStateMachine.cpp.

References elodin_client_, latest_pressures_, lock, MAX_PACKET_SIZE, pressure_mutex_, pt_fdp_message_id_, pt_fup_message_id_, pt_hp_message_id_, pt_lp_message_id_, pt_odp_message_id_, and pt_oup_message_id_.

Referenced by stateMachineLoop().

◆ registerPSMVTables()

void fsw::control::PressureStateMachine::registerPSMVTables ( )

private

Register Elodin VTables for PSM actuator commands and state transitions.

Definition at line 729 of file PressureStateMachine.cpp.

References elodin_client_.

Referenced by initialize().

◆ requestAbort()

void fsw::control::PressureStateMachine::requestAbort ( )

Request abort.

Definition at line 204 of file PressureStateMachine.cpp.

References ABORT, abort_requested_, current_state_, executeStateEntryActions(), lock, state_entry_time_, and state_mutex_.

◆ requestTransition()

bool fsw::control::PressureStateMachine::requestTransition ( SystemState target_state )

Request transition to a specific state (manual override).

Definition at line 166 of file PressureStateMachine.cpp.

References ABORT, ARMED, current_state_, DEBUG_STATE, executeStateEntryActions(), FUEL_FILL, getCurrentStateName(), IDLE, lock, state_entry_time_, and state_mutex_.

◆ sendActuatorCommand()

void fsw::control::PressureStateMachine::sendActuatorCommand	(	ActuatorID	actuator,
		CommandType	command,
		float	value = 0.0f )

private

Send actuator command.

Definition at line 612 of file PressureStateMachine.cpp.

References actuatorToMessageID(), elodin_client_, comms::CommsMessage< Fields >::fields, and sendActuatorCommandUDP().

Referenced by executeStateEntryActions().

◆ sendActuatorCommandUDP()

void fsw::control::PressureStateMachine::sendActuatorCommandUDP	(	ActuatorID	actuator,
		CommandType	command,
		float	value = 0.0f )

private

Send actuator command via UDP to board.

Definition at line 635 of file PressureStateMachine.cpp.

References actuator_board_ip_, actuator_board_port_, CLOSE, command_socket_, commands, daq::create_actuator_command_packet(), OPEN, PULSE, and SET_POSITION.

Referenced by sendActuatorCommand().

◆ start()

void fsw::control::PressureStateMachine::start ( )

Start the state machine.

Definition at line 97 of file PressureStateMachine.cpp.

References running_, state_machine_thread_, and stateMachineLoop().

◆ stateMachineLoop()

void fsw::control::PressureStateMachine::stateMachineLoop ( )

private

Main state machine loop.

Definition at line 218 of file PressureStateMachine.cpp.

References checkTransitions(), count(), current_state_, executeStateActions(), pressure_read_period_, readPressureData(), running_, and state_machine_period_.

Referenced by start().

◆ stop()

void fsw::control::PressureStateMachine::stop ( )

Stop the state machine.

Definition at line 108 of file PressureStateMachine.cpp.

References running_, and state_machine_thread_.

Referenced by ~PressureStateMachine().

Member Data Documentation

◆ abort_requested_

std::atomic<bool> fsw::control::PressureStateMachine::abort_requested_

private

Definition at line 198 of file PressureStateMachine.hpp.

Referenced by checkTransitions(), executeStateEntryActions(), initialize(), PressureStateMachine(), and requestAbort().

◆ actuator_board_ip_

std::string fsw::control::PressureStateMachine::actuator_board_ip_

private

Definition at line 211 of file PressureStateMachine.hpp.

Referenced by initialize(), and sendActuatorCommandUDP().

◆ actuator_board_port_

uint16_t fsw::control::PressureStateMachine::actuator_board_port_

private

Definition at line 212 of file PressureStateMachine.hpp.

Referenced by initialize(), and sendActuatorCommandUDP().

◆ actuator_message_ids_

std::map<ActuatorID, uint16_t> fsw::control::PressureStateMachine::actuator_message_ids_

private

Definition at line 232 of file PressureStateMachine.hpp.

Referenced by actuatorToMessageID(), and PressureStateMachine().

◆ board_discovery_

std::shared_ptr<config::BoardDiscovery> fsw::control::PressureStateMachine::board_discovery_

private

Definition at line 205 of file PressureStateMachine.hpp.

Referenced by getActuatorBoardAddress(), and initialize().

◆ command_socket_

std::unique_ptr<daq_comms::transport::UDPSocket> fsw::control::PressureStateMachine::command_socket_

private

Definition at line 208 of file PressureStateMachine.hpp.

Referenced by initialize(), and sendActuatorCommandUDP().

◆ current_state_

std::atomic<SystemState> fsw::control::PressureStateMachine::current_state_

private

Definition at line 197 of file PressureStateMachine.hpp.

Referenced by checkTransitions(), executeStateEntryActions(), getCurrentState(), getCurrentStateName(), initialize(), PressureStateMachine(), requestAbort(), requestTransition(), and stateMachineLoop().

◆ elodin_client_

std::shared_ptr<elodin::ElodinClient> fsw::control::PressureStateMachine::elodin_client_

private

Definition at line 202 of file PressureStateMachine.hpp.

Referenced by executeStateEntryActions(), initialize(), readPressureData(), registerPSMVTables(), and sendActuatorCommand().

◆ latest_pressures_

PressureReadings fsw::control::PressureStateMachine::latest_pressures_

private

Definition at line 216 of file PressureStateMachine.hpp.

Referenced by checkTransitions(), getLatestPressures(), and readPressureData().

◆ pressure_mutex_

std::mutex fsw::control::PressureStateMachine::pressure_mutex_

mutableprivate

Definition at line 215 of file PressureStateMachine.hpp.

Referenced by checkTransitions(), getLatestPressures(), and readPressureData().

◆ pressure_read_period_

std::chrono::milliseconds fsw::control::PressureStateMachine::pressure_read_period_ {50}

private

Definition at line 240 of file PressureStateMachine.hpp.

Referenced by stateMachineLoop().

◆ pt_fdp_message_id_

uint16_t fsw::control::PressureStateMachine::pt_fdp_message_id_ = 0x2013

private

Definition at line 227 of file PressureStateMachine.hpp.

Referenced by readPressureData().

◆ pt_fup_message_id_

uint16_t fsw::control::PressureStateMachine::pt_fup_message_id_ = 0x2011

private

Definition at line 226 of file PressureStateMachine.hpp.

Referenced by readPressureData().

◆ pt_hp_message_id_

uint16_t fsw::control::PressureStateMachine::pt_hp_message_id_ = 0x2016

private

Definition at line 224 of file PressureStateMachine.hpp.

Referenced by readPressureData().

◆ pt_lp_message_id_

uint16_t fsw::control::PressureStateMachine::pt_lp_message_id_ = 0x2011

private

Definition at line 225 of file PressureStateMachine.hpp.

Referenced by readPressureData().

◆ pt_odp_message_id_

uint16_t fsw::control::PressureStateMachine::pt_odp_message_id_ = 0x2017

private

Definition at line 229 of file PressureStateMachine.hpp.

Referenced by readPressureData().

◆ pt_oup_message_id_

uint16_t fsw::control::PressureStateMachine::pt_oup_message_id_ = 0x2015

private

Definition at line 228 of file PressureStateMachine.hpp.

Referenced by readPressureData().

◆ running_

std::atomic<bool> fsw::control::PressureStateMachine::running_

private

Definition at line 196 of file PressureStateMachine.hpp.

Referenced by PressureStateMachine(), start(), stateMachineLoop(), and stop().

◆ state_entry_time_

std::chrono::steady_clock::time_point fsw::control::PressureStateMachine::state_entry_time_

private

Definition at line 199 of file PressureStateMachine.hpp.

Referenced by checkTransitions(), PressureStateMachine(), requestAbort(), and requestTransition().

◆ state_machine_period_

std::chrono::milliseconds fsw::control::PressureStateMachine::state_machine_period_ {100}

private

Definition at line 239 of file PressureStateMachine.hpp.

Referenced by stateMachineLoop().

◆ state_machine_thread_

std::thread fsw::control::PressureStateMachine::state_machine_thread_

private

Definition at line 235 of file PressureStateMachine.hpp.

Referenced by start(), and stop().

◆ state_mutex_

std::mutex fsw::control::PressureStateMachine::state_mutex_

private

Definition at line 236 of file PressureStateMachine.hpp.

Referenced by checkTransitions(), requestAbort(), and requestTransition().

◆ thresholds_

PressureThresholds fsw::control::PressureStateMachine::thresholds_

private

Definition at line 219 of file PressureStateMachine.hpp.

Referenced by checkTransitions(), and initialize().

The documentation for this class was generated from the following files:

daq-server/diablo_server/lib/include/control/PressureStateMachine.hpp
daq-server/diablo_server/lib/src/control/PressureStateMachine.cpp

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ ActuatorID

◆ CommandType

◆ SystemState

Constructor & Destructor Documentation

◆ PressureStateMachine()

◆ ~PressureStateMachine()

Member Function Documentation

◆ actuatorToMessageID()

◆ checkTransitions()

◆ executeStateActions()

◆ executeStateEntryActions()

◆ getActuatorBoardAddress()

◆ getCurrentState()

◆ getCurrentStateName()

◆ getLatestPressures()

◆ initialize()

◆ readPressureData()

◆ registerPSMVTables()

◆ requestAbort()

◆ requestTransition()

◆ sendActuatorCommand()

◆ sendActuatorCommandUDP()

◆ start()

◆ stateMachineLoop()

◆ stop()

Member Data Documentation

◆ abort_requested_

◆ actuator_board_ip_

◆ actuator_board_port_

◆ actuator_message_ids_

◆ board_discovery_

◆ command_socket_

◆ current_state_

◆ elodin_client_

◆ latest_pressures_

◆ pressure_mutex_

◆ pressure_read_period_

◆ pt_fdp_message_id_

◆ pt_fup_message_id_

◆ pt_hp_message_id_

◆ pt_lp_message_id_

◆ pt_odp_message_id_

◆ pt_oup_message_id_

◆ running_

◆ state_entry_time_

◆ state_machine_period_

◆ state_machine_thread_

◆ state_mutex_

◆ thresholds_