STAR
Cal STAR — firmware, DAQ server, and engine design
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main.cpp File Reference
#include <Arduino.h>
#include <Ethernet.h>
#include <EthernetUdp.h>
#include <SPI.h>
#include <SPIFFS.h>
#include <daq-protocol.h>
#include <esp_mac.h>
#include <cstring>
#include <vector>
#include "actuator_board_pins.h"
#include "actuator_config.h"
#include "firmware_hash.h"
Include dependency graph for main.cpp:

Go to the source code of this file.

Enumerations

enum class  ActuatorControllerState {
  WaitingForServer , Active , StandardAbort , NoConnectionAbort ,
  PTAbort , NoPTAbort , AbortFinished , ConnectionLossDetected ,
  StandaloneAbort , WaitingForServer , Active , StandardAbort ,
  NoConnectionAbort , AbortFinished , ConnectionLossDetected , WaitingForServer = 1 ,
  Active = 2 , ConnectionLossDetected = 3 , NoConnectionAbort = 4 , NoConnAbortFollower = 5 ,
  PTAbort = 6 , NoPTAbort = 7 , AbortFinished = 8 , WaitingForServer = 1 ,
  Active = 2 , ConnectionLossDetected = 3 , NoConnectionAbort = 4 , NoConnAbortFollower = 5 ,
  PTAbort = 6 , NoPTAbort = 7 , AbortFinished = 8
}
enum class  LedPhase {
  Idle , On , Off , Idle ,
  On , Off , Idle , On ,
  Off
}
enum class  IncomingPacketKind {
  None , ServerHeartbeat , Config , Abort ,
  AbortDone , ClearAbort , SensorData , None ,
  ServerHeartbeat , Config , Abort , AbortDone ,
  ClearAbort , None , ServerHeartbeat , Config ,
  Abort , AbortDone , ClearAbort , SensorData ,
  NoConnAbort , None , ServerHeartbeat , Config ,
  Abort , AbortDone , ClearAbort , SensorData ,
  NoConnAbort , None , ServerHeartbeat , SensorConfig ,
  ClearAbort , NoConnAbort
}

Functions

static uint8_t getStateNumber (ActuatorControllerState s)
static void updateLedNonBlocking ()
static daq::BoardState getBoardStateForHeartbeat ()
static void sendBoardHeartbeat ()
static bool isIPInPTLocations (uint32_t ip)
static IPAddress uint32ToIPAddress (uint32_t ip)
static bool readPacketHeader (const uint8_t *buffer, size_t buffer_size, daq::PacketHeader &header_out)
static void processActuatorCommands (const std::vector< daq::ActuatorCommand > &commands)
static IncomingPacketKind processIncomingPacket (const uint8_t *buffer, size_t len, IPAddress remoteIP)
static void readCurrentSensePinsAndSend ()
static bool heartbeatTimedOut ()
static void streamSensorDataIfDue ()
static size_t create_no_connection_abort_packet (uint8_t *buffer, size_t buffer_size)
static void sendNoConnectionAbortToAllPTs ()
static void run_WaitingForServer ()
static void run_Active ()
static void run_StandardAbort ()
static void run_NoConnectionAbort ()
static void run_PTAbort ()
static void run_NoPTAbort ()
static void run_AbortFinished ()
static void run_ConnectionLossDetected ()
static void run_StandaloneAbort ()
static void applyPacketTransition (IncomingPacketKind kind)
static void initializeActuators ()
static void initializeCurrentSensePins ()
void setup ()
void loop ()

Variables

static uint8_t board_id = BOARD_ID_DEFAULT
byte mac [6]
IPAddress staticIP (192, 168, 2, BOARD_ID_DEFAULT)
IPAddress gateway (0, 0, 0, 0)
IPAddress subnet (255, 255, 255, 0)
IPAddress dns (192, 168, 2, 1)
IPAddress serverIP (192, 168, 2, 20)
const int udpListenPort = 5005
const int serverPort = 5006
const int ptBoardPort = 5005
EthernetUDP udp
static ActuatorControllerState state
static unsigned long last_server_heartbeat_ms = 0
static unsigned long state_enter_ms = 0
static bool is_abort_controller = false
static std::vector< daq::AbortActuatorLocation > abort_actuator_locations
static std::vector< daq::AbortPTLocation > abort_pt_locations
static bool config_valid = false
static unsigned long last_pt_data_from_config_ms = 0
static bool pt_data_received_during_no_conn_abort_wait = false
static bool no_conn_abort_pt_sent = false
const uint8_t NUM_SENSORS = NUM_ACTUATORS
static unsigned long last_adc_read_ms = 0
static uint8_t actuator_states [NUM_ACTUATORS]
static unsigned long lastHeartbeatMillis = 0
static LedPhase led_phase = LedPhase::Idle
static unsigned long led_cycle_start_ms = 0
static uint8_t led_blink_index = 0
static unsigned long led_phase_start_ms = 0
static ActuatorControllerState last_led_state

Enumeration Type Documentation

◆ ActuatorControllerState

enum class ActuatorControllerState
strong
Enumerator
WaitingForServer 
Active 
StandardAbort 
NoConnectionAbort 
PTAbort 
NoPTAbort 
AbortFinished 
ConnectionLossDetected 
StandaloneAbort 
WaitingForServer 
Active 
StandardAbort 
NoConnectionAbort 
AbortFinished 
ConnectionLossDetected 
WaitingForServer 
Active 
ConnectionLossDetected 
NoConnectionAbort 
NoConnAbortFollower 
PTAbort 
NoPTAbort 
AbortFinished 
WaitingForServer 
Active 
ConnectionLossDetected 
NoConnectionAbort 
NoConnAbortFollower 
PTAbort 
NoPTAbort 
AbortFinished 

Definition at line 45 of file main.cpp.

◆ IncomingPacketKind

enum class IncomingPacketKind
strong
Enumerator
None 
ServerHeartbeat 
Config 
Abort 
AbortDone 
ClearAbort 
SensorData 
None 
ServerHeartbeat 
Config 
Abort 
AbortDone 
ClearAbort 
None 
ServerHeartbeat 
Config 
Abort 
AbortDone 
ClearAbort 
SensorData 
NoConnAbort 
None 
ServerHeartbeat 
Config 
Abort 
AbortDone 
ClearAbort 
SensorData 
NoConnAbort 
None 
ServerHeartbeat 
SensorConfig 
ClearAbort 
NoConnAbort 

Definition at line 237 of file main.cpp.

◆ LedPhase

enum class LedPhase
strong
Enumerator
Idle 
On 
Off 
Idle 
On 
Off 
Idle 
On 
Off 

Definition at line 86 of file main.cpp.

Function Documentation

◆ applyPacketTransition()

void applyPacketTransition ( IncomingPacketKind kind)
static

Definition at line 507 of file main.cpp.

References Abort, AbortDone, AbortFinished, Active, ClearAbort, Config, ConnectionLossDetected, millis(), ServerHeartbeat, StandardAbort, state, state_enter_ms, and WaitingForServer.

Referenced by loop().

◆ create_no_connection_abort_packet()

size_t create_no_connection_abort_packet ( uint8_t * buffer,
size_t buffer_size )
static

Definition at line 383 of file main.cpp.

References DIABLO_COMMS_VERSION, millis(), and daq::NO_CONNECTION_ABORT.

Referenced by sendNoConnectionAbortToAllPTs().

◆ getBoardStateForHeartbeat()

daq::BoardState getBoardStateForHeartbeat ( )
static

Definition at line 167 of file main.cpp.

References daq::ABORT_FINISHED, AbortFinished, daq::ACTIVE, Active, daq::CONNECTION_LOSS_DETECTED, ConnectionLossDetected, daq::NO_CONNECTION_ABORT, daq::NO_PT_ABORT, NoConnectionAbort, NoPTAbort, daq::PT_ABORT, PTAbort, daq::SETUP, daq::STANDALONE_ABORT, StandaloneAbort, StandardAbort, state, and WaitingForServer.

Referenced by sendBoardHeartbeat(), test_actuator_heartbeat_board_id_preserved(), and test_actuator_heartbeat_state_mapping_table().

◆ getStateNumber()

uint8_t getStateNumber ( ActuatorControllerState s)
static

Definition at line 94 of file main.cpp.

References AbortFinished, Active, ConnectionLossDetected, NoConnectionAbort, NoPTAbort, PTAbort, StandaloneAbort, StandardAbort, and WaitingForServer.

Referenced by updateLedNonBlocking().

◆ heartbeatTimedOut()

bool heartbeatTimedOut ( )
static

Definition at line 366 of file main.cpp.

References HEARTBEAT_TIMEOUT_MS, last_server_heartbeat_ms, and millis().

Referenced by mainloop(), run_Active(), run_StandardAbort(), and standardAbort().

◆ initializeActuators()

void initializeActuators ( )
static

Definition at line 547 of file main.cpp.

References actuator_states, digitalWrite(), actuator_board_pins::getActuatorPin(), LOW, actuator_board_pins::NUM_ACTUATORS, OUTPUT, pinMode(), and Serial.

Referenced by setup().

◆ initializeCurrentSensePins()

void initializeCurrentSensePins ( )
static

Definition at line 560 of file main.cpp.

References actuator_board_pins::getCurrentSensePin(), INPUT, NUM_SENSORS, and pinMode().

Referenced by setup().

◆ isIPInPTLocations()

bool isIPInPTLocations ( uint32_t ip)
static

Definition at line 213 of file main.cpp.

References abort_pt_locations.

Referenced by processIncomingPacket().

◆ loop()

void loop ( )

Definition at line 621 of file main.cpp.

References AbortFinished, Active, applyPacketTransition(), BOARD_HEARTBEAT_INTERVAL_MS, ConnectionLossDetected, delay(), lastHeartbeatMillis, LOOP_DELAY_MS, MAX_PACKET_SIZE, millis(), NoConnectionAbort, NoPTAbort, packetBuffer, processIncomingPacket(), PTAbort, run_AbortFinished(), run_Active(), run_ConnectionLossDetected(), run_NoConnectionAbort(), run_NoPTAbort(), run_PTAbort(), run_StandaloneAbort(), run_StandardAbort(), run_WaitingForServer(), sendBoardHeartbeat(), StandaloneAbort, StandardAbort, state, udp, updateLedNonBlocking(), and WaitingForServer.

◆ processActuatorCommands()

void processActuatorCommands ( const std::vector< daq::ActuatorCommand > & commands)
static

Definition at line 318 of file main.cpp.

References actuator_states, commands, digitalWrite(), actuator_board_pins::getActuatorPin(), HIGH, LOW, and actuator_board_pins::NUM_ACTUATORS.

Referenced by processIncomingPacket().

◆ processIncomingPacket()

IncomingPacketKind processIncomingPacket ( const uint8_t * buffer,
size_t len,
IPAddress remoteIP )
static

Definition at line 250 of file main.cpp.

References daq::ABORT, Abort, abort_actuator_locations, daq::ABORT_DONE, abort_pt_locations, AbortDone, Active, daq::ACTUATOR_COMMAND, daq::ACTUATOR_CONFIG, daq::CLEAR_ABORT, ClearAbort, commands, Config, config_valid, is_abort_controller, isIPInPTLocations(), last_pt_data_from_config_ms, last_server_heartbeat_ms, millis(), NoConnectionAbort, None, daq::parse_actuator_command_packet(), daq::parse_actuator_config_packet(), daq::parse_server_heartbeat_packet(), processActuatorCommands(), pt_data_received_during_no_conn_abort_wait, readPacketHeader(), daq::SENSOR_DATA, SensorData, daq::SERVER_HEARTBEAT, ServerHeartbeat, StandardAbort, and state.

Referenced by loop().

◆ readCurrentSensePinsAndSend()

void readCurrentSensePinsAndSend ( )
static

Definition at line 338 of file main.cpp.

References analogRead(), chunk, chunks, daq::create_sensor_data_packet(), actuator_board_pins::getCurrentSensePin(), MAX_PACKET_SIZE, millis(), NUM_SENSORS, packetBuffer, serverIP, serverPort, and udp.

Referenced by streamSensorDataIfDue().

◆ readPacketHeader()

bool readPacketHeader ( const uint8_t * buffer,
size_t buffer_size,
daq::PacketHeader & header_out )
static

Definition at line 229 of file main.cpp.

Referenced by processIncomingPacket().

◆ run_AbortFinished()

void run_AbortFinished ( )
static

Definition at line 474 of file main.cpp.

Referenced by loop().

◆ run_Active()

void run_Active ( )
static

Definition at line 420 of file main.cpp.

References ConnectionLossDetected, heartbeatTimedOut(), millis(), state, state_enter_ms, and streamSensorDataIfDue().

Referenced by loop().

◆ run_ConnectionLossDetected()

void run_ConnectionLossDetected ( )
static

Definition at line 478 of file main.cpp.

References abort_pt_locations, config_valid, CONNECTION_LOSS_GRACE_MS, is_abort_controller, last_pt_data_from_config_ms, millis(), NoConnectionAbort, pt_data_received_during_no_conn_abort_wait, STANDALONE_ABORT_PT_LOSS_MS, StandaloneAbort, state, and state_enter_ms.

Referenced by loop().

◆ run_NoConnectionAbort()

void run_NoConnectionAbort ( )
static

Definition at line 436 of file main.cpp.

References config_valid, elapsed(), is_abort_controller, millis(), no_conn_abort_pt_sent, NO_CONN_ABORT_PT_WAIT_MS, NoPTAbort, pt_data_received_during_no_conn_abort_wait, PTAbort, sendNoConnectionAbortToAllPTs(), state, and state_enter_ms.

Referenced by loop().

◆ run_NoPTAbort()

void run_NoPTAbort ( )
static

Definition at line 464 of file main.cpp.

References AbortFinished, millis(), NO_CONNECTION_ABORT_DONE_MS, state, and state_enter_ms.

Referenced by loop().

◆ run_PTAbort()

void run_PTAbort ( )
static

Definition at line 455 of file main.cpp.

References AbortFinished, millis(), NO_CONNECTION_ABORT_DONE_MS, state, and state_enter_ms.

Referenced by loop().

◆ run_StandaloneAbort()

void run_StandaloneAbort ( )
static

Definition at line 496 of file main.cpp.

References AbortFinished, millis(), NO_CONNECTION_ABORT_DONE_MS, state, and state_enter_ms.

Referenced by loop().

◆ run_StandardAbort()

void run_StandardAbort ( )
static

Definition at line 428 of file main.cpp.

References heartbeatTimedOut(), millis(), NoConnectionAbort, pt_data_received_during_no_conn_abort_wait, state, and state_enter_ms.

Referenced by loop().

◆ run_WaitingForServer()

void run_WaitingForServer ( )
static

Definition at line 416 of file main.cpp.

Referenced by loop().

◆ sendBoardHeartbeat()

void sendBoardHeartbeat ( )
static

Definition at line 192 of file main.cpp.

References board_id, daq::create_board_heartbeat_packet(), FirmwareHash::get(), getBoardStateForHeartbeat(), MAX_PACKET_SIZE, millis(), packetBuffer, daq::SAFE, serverIP, serverPort, and udp.

Referenced by loop(), and SensorHotfire::loop().

◆ sendNoConnectionAbortToAllPTs()

void sendNoConnectionAbortToAllPTs ( )
static

Definition at line 398 of file main.cpp.

References abort_pt_locations, create_no_connection_abort_packet(), MAX_PACKET_SIZE, packetBuffer, ptBoardPort, udp, and uint32ToIPAddress().

Referenced by run_NoConnectionAbort().

◆ setup()

void setup ( void )

Definition at line 571 of file main.cpp.

References actuator_board_pins::Actuator_Board, b, board_id, delay(), digitalWrite(), dns, Ethernet, ETHERNET_BEGIN_DELAY_MS, ETHERNET_INIT_DELAY_MS, ETHERNET_SPI_DELAY_MS, gateway, initializeActuators(), initializeCurrentSensePins(), IPAddress, last_led_state, last_server_heartbeat_ms, led_cycle_start_ms, LOW, mac, millis(), OUTPUT, pinMode(), Serial, SPIFFS_BOARD_VALUE_PATH, state, state_enter_ms, staticIP, subnet, udp, udpListenPort, and WaitingForServer.

Referenced by radio_link::radio_send(), radio_task_send_frame(), radio_task_start_continuous_rx(), radio_task_start_sniff(), t7_integration::scenario_chain(), t7_integration::scenario_cubic(), t7_integration::scenario_mixed(), t7_integration::scenario_restart(), test_arm_requested_without_heartbeat(), test_battery_read_before_transmit(), test_battery_validity(), test_clock_and_sequence_wraparound(), test_command_drain_is_bounded(), test_deadline_retry_and_unstarted(), test_disarm_stays_idle(), test_disarm_then_arm_in_one_wake(), test_early_lsi_wake_within_tolerance(), test_failure_completes_after_three_attempts(), test_failure_count_saturates(), test_first_wake_sends_heartbeat(), test_full_inventory_budget(), test_heartbeat_boundaries_and_gap(), test_hysteresis(), test_invalid_battery_still_sends(), test_long_gap_sends_one_heartbeat(), test_malformed_driver_results(), test_missing_and_optional(), test_pass_and_inventory(), test_pending_timeout_and_fairness(), test_probe_retry_bounds_and_recovery(), test_publication_retry_and_recovery(), test_radio_wake_does_not_delay_heartbeat(), test_reset_and_copied_dependencies(), test_send_failure_counted_and_sleep_continues(), test_session_deadline(), test_sixty_seconds_gives_six_heartbeats(), test_terminal_results(), test_thresholds(), test_timeout_retry(), test_usb_is_never_battery_health(), and test_wraparound().

◆ streamSensorDataIfDue()

void streamSensorDataIfDue ( )
static

Definition at line 372 of file main.cpp.

References ADC_READ_INTERVAL_MS, last_adc_read_ms, millis(), and readCurrentSensePinsAndSend().

Referenced by run_Active().

◆ uint32ToIPAddress()

IPAddress uint32ToIPAddress ( uint32_t ip)
static

Definition at line 221 of file main.cpp.

References IPAddress.

Referenced by sendNoConnectionAbortToAllPTs().

◆ updateLedNonBlocking()

void updateLedNonBlocking ( )
static

Definition at line 119 of file main.cpp.

References actuator_board_pins::Actuator_Board, digitalWrite(), getStateNumber(), HIGH, Idle, last_led_state, led_blink_index, LED_BLINK_OFF_MS, LED_BLINK_ON_MS, LED_CYCLE_MS, led_cycle_start_ms, led_phase, led_phase_start_ms, LOW, millis(), Off, On, and state.

Referenced by loop().

Variable Documentation

◆ abort_actuator_locations

std::vector<daq::AbortActuatorLocation> abort_actuator_locations
static

Definition at line 64 of file main.cpp.

Referenced by applyAbortLocalOnly(), applyAbortToAllActuators(), applyVentLocalOnly(), applyVentToAllActuators(), processIncomingPacket(), run_NoConnectionAbort(), and sendAbortDoneToAllBoards().

◆ abort_pt_locations

std::vector<daq::AbortPTLocation> abort_pt_locations
static

Definition at line 65 of file main.cpp.

Referenced by isIPInPTLocations(), processIncomingPacket(), run_ConnectionLossDetected(), run_NoConnectionAbort(), sendAbortDoneToAllBoards(), and sendNoConnectionAbortToAllPTs().

◆ actuator_states

uint8_t actuator_states[NUM_ACTUATORS]
static

Definition at line 80 of file main.cpp.

Referenced by applyAbortLocalOnly(), applyAbortToAllActuators(), applyVentLocalOnly(), applyVentToAllActuators(), initializeActuators(), initializeActuators(), initializeActuators(), processActuatorCommand(), processActuatorCommands(), processActuatorCommands(), processPWMActuatorCommand(), processPWMActuatorCommand(), updatePWM(), and updatePWM().

◆ board_id

uint8_t board_id = BOARD_ID_DEFAULT
static

Definition at line 30 of file main.cpp.

Referenced by daq::__attribute__(), sequencer::actuator_elodin_low_byte(), fsw::config::SensorAssignmentManager::assign_board_ip(), fsw::fsw::FSWConfigManager::assign_sensors(), fsw::config::SensorAssignmentManager::assign_sensors_to_board(), fsw::config::anonymous_namespace{Config.cpp}::check_board_slots(), anonymous_namespace{daq_bridge_main.cpp}::BackendLogForwarder::forward(), fsw::config::SensorAssignmentManager::generate_board_config_packet(), fsw::config::SensorAssignmentManager::get_board_config(), fsw::config::SensorAssignmentManager::get_board_sensors(), fsw::fsw::FSWConfigManager::infer_system_state(), fsw::calibration::lc_tare_entity(), loop(), main(), pollNetwork(), fsw::fsw::FSWConfigManager::process_board_heartbeat(), fsw::calibration::CubicCalibrationStore::register_channel(), fsw::elodin::DatabaseConfig::register_heartbeat_tables(), fsw::elodin::DatabaseConfig::register_self_test_tables(), fsw::elodin::register_self_test_vtable(), fsw::fsw::FSWConfigManager::send_config_to_board(), fsw::fsw::FSWConfigManager::send_configs_to_all_boards(), sendBoardHeartbeat(), sendBoardHeartbeat(), sendBoardHeartbeat(), sendBoardHeartbeatTo(), fsw::fsw::FSWConfigManager::set_board_static_ip(), fsw::config::SensorAssignmentManager::set_static_board_ip(), fsw::config::BoardDiscovery::set_static_ip_for_board(), setup(), fsw::calibration::anonymous_namespace{CubicCalibrationStore.cpp}::slot_from_board_id(), t7(), fsw::t7::t7_uid(), fsw::config::SensorAssignmentManager::update_board_config_from_packet(), fsw::config::BoardDiscovery::~BoardDiscovery(), and fsw::config::SensorAssignmentManager::~SensorAssignmentManager().

◆ config_valid

bool config_valid = false
static

Definition at line 66 of file main.cpp.

Referenced by idle_init(), processIncomingPacket(), run_ConnectionLossDetected(), run_NoConnectionAbort(), run_NoPTAbort(), run_PTAbort(), and self_test_init().

◆ dns

IPAddress dns(192, 168, 2, 1) ( 192 ,
168 ,
2 ,
1  )

Referenced by BoardNet::begin(), loop(), pollNetwork(), printBoardInfo(), BoardNet::retryDhcp(), setup(), and BoardNet::useRecoveryAddress().

◆ gateway

IPAddress gateway(0, 0, 0, 0) ( 0 ,
0 ,
0 ,
0  )

Referenced by BoardNet::begin(), loop(), pollNetwork(), printBoardInfo(), BoardNet::retryDhcp(), setup(), and BoardNet::useRecoveryAddress().

◆ is_abort_controller

bool is_abort_controller = false
static

Definition at line 63 of file main.cpp.

Referenced by applyPacketTransition(), applyPacketTransition(), anonymous_namespace{config_broadcast_service_main.cpp}::buildPackets(), daq::create_actuator_config_packet(), processIncomingPacket(), run_ConnectionLossDetected(), run_NoConnectionAbort(), and stateAcceptsActuatorCommand().

◆ last_adc_read_ms

unsigned long last_adc_read_ms = 0
static

Definition at line 79 of file main.cpp.

Referenced by streamSensorDataIfDue(), and streamSensorDataIfDue().

◆ last_led_state

ActuatorControllerState last_led_state
static
Initial value:
=
ActuatorControllerState::WaitingForServer
ActuatorControllerState::WaitingForServer
@ WaitingForServer
Definition main.cpp:46

Definition at line 91 of file main.cpp.

Referenced by setup(), updateLedNonBlocking(), and updateLedNonBlocking().

◆ last_pt_data_from_config_ms

unsigned long last_pt_data_from_config_ms = 0
static

Definition at line 70 of file main.cpp.

Referenced by processIncomingPacket(), and run_ConnectionLossDetected().

◆ last_server_heartbeat_ms

unsigned long last_server_heartbeat_ms = 0
static

Definition at line 59 of file main.cpp.

Referenced by heartbeatTimedOut(), heartbeatTimedOut(), loop(), processIncomingPacket(), processIncomingPacket(), and setup().

◆ lastHeartbeatMillis

unsigned long lastHeartbeatMillis = 0
static

Definition at line 81 of file main.cpp.

Referenced by loop(), and pollNetwork().

◆ led_blink_index

uint8_t led_blink_index = 0
static

Definition at line 89 of file main.cpp.

Referenced by updateLedNonBlocking(), and updateLedNonBlocking().

◆ led_cycle_start_ms

unsigned long led_cycle_start_ms = 0
static

Definition at line 88 of file main.cpp.

Referenced by setup(), updateLedNonBlocking(), and updateLedNonBlocking().

◆ led_phase

LedPhase led_phase = LedPhase::Idle
static

Definition at line 87 of file main.cpp.

Referenced by updateLedNonBlocking(), and updateLedNonBlocking().

◆ led_phase_start_ms

unsigned long led_phase_start_ms = 0
static

Definition at line 90 of file main.cpp.

Referenced by updateLedNonBlocking(), and updateLedNonBlocking().

◆ mac

byte mac[6]

Definition at line 31 of file main.cpp.

Referenced by BoardNet::configure(), EthernetInit(), main(), printBoardInfo(), fsw::config::BoardDiscovery::process_board_announcement(), BoardNet::recoveryAddress(), and setup().

◆ no_conn_abort_pt_sent

bool no_conn_abort_pt_sent = false
static

Definition at line 75 of file main.cpp.

Referenced by run_ConnectionLossDetected(), and run_NoConnectionAbort().

◆ NUM_SENSORS

const uint8_t NUM_SENSORS = NUM_ACTUATORS

Definition at line 78 of file main.cpp.

◆ pt_data_received_during_no_conn_abort_wait

bool pt_data_received_during_no_conn_abort_wait = false
static

Definition at line 73 of file main.cpp.

Referenced by processIncomingPacket(), run_ConnectionLossDetected(), run_NoConnectionAbort(), and run_StandardAbort().

◆ ptBoardPort

const int ptBoardPort = 5005

Definition at line 39 of file main.cpp.

Referenced by sendAbortDoneToAllBoards(), and sendNoConnectionAbortToAllPTs().

◆ serverIP

IPAddress serverIP(192, 168, 2, 20) ( 192 ,
168 ,
2 ,
20  )

Referenced by flushLogs(), loop(), BoardNet::onServerPacket(), pollNetwork(), processIncomingPacket(), processIncomingPacket(), readCurrentSensePinsAndSend(), readCurrentSensePinsAndSend(), run_Active(), run_ConnectionLossDetected(), runSelfTest(), sendBoardHeartbeat(), sendBoardHeartbeat(), sendDataChunks(), sendHeartbeat(), sendPositions(), setup(), and stateAcceptsActuatorCommand().

◆ serverPort

const int serverPort = 5006

Definition at line 38 of file main.cpp.

Referenced by flushLogs(), loop(), pollNetwork(), processIncomingPacket(), readCurrentSensePinsAndSend(), readCurrentSensePinsAndSend(), run_Active(), runSelfTest(), sendBoardHeartbeat(), sendBoardHeartbeat(), sendDataChunks(), sendHeartbeat(), sendPositions(), and setup().

◆ state

ActuatorControllerState state
static
Initial value:
=
ActuatorControllerState::WaitingForServer

Definition at line 57 of file main.cpp.

Referenced by engine.core.injectors.impinging::_stream_flow(), sequencer::StateMachine::allowedBitmask(), sequencer::StateMachine::allowedFrom(), app_command(), app_set_state(), app_state(), sequencer::ActuatorCommander::applyForState(), applyPacketTransition(), applyPacketTransition(), applyPacketTransition(), SensorSM::applyPacketTransition(), battery_state_name(), fsw::config::SensorAssignmentManager::calculate_ip_from_mac(), anonymous_namespace{idle_e2e.cpp}::check_idle_heartbeat(), fsw::nav::EKFNavigationEnhanced::computeMagnetometerJacobian(), fsw::nav::EKFNavigationEnhanced::computeMagnetometerMeasurement(), emmc_identify(), fsw::control::PressureStateMachine::executeStateActions(), fsw::control::PressureStateMachine::executeStateEntryActions(), flight_state_logs_to_emmc(), flight_state_name(), flight_state_next(), fsw::config::SensorAssignmentManager::get_system_sensors(), getBoardStateForHeartbeat(), getBoardStateForHeartbeat(), getBoardStateForHeartbeat(), SensorSM::getBoardStateForHeartbeat(), fsw::calibration::RobustCalibrationManager::initialize_sensor(), IRQ_Context(), fsw::calibration::RobustCalibrationManager::load_adjustments(), loop(), mode_outputs(), mode_route_command(), osKernelGetState(), osKernelInitialize(), osKernelStart(), osThreadGetState(), fsw::routing::HeartbeatRouter::process_heartbeat(), processActuatorCommands(), processIncomingPacket(), processIncomingPacket(), EngineFSM::register_state(), fsw::calibration::RobustCalibrationManager::reseed_sensor(), fsw::calibration::RobustCalibrationManager::reset_adjustment(), run_Active(), run_Active(), run_ConnectionLossDetected(), run_ConnectionLossDetected(), run_NoConnectionAbort(), run_NoConnectionAbort(), run_NoPTAbort(), run_PTAbort(), run_StandaloneAbort(), run_StandardAbort(), run_StandardAbort(), fsw::calibration::RobustCalibrationManager::save_adjustments(), t7_integration::scenario_restart(), fsw::calibration::CubicCalibrationStore::serialize(), fsw::fsw::FSWConfigManager::set_system_state(), setState(), setState(), setup(), sequencer::ActuatorCommander::startContinuousLoop(), stateAcceptsActuatorCommand(), test_actuator_heartbeat_state_mapping_table(), test_props_reference::test_gamma_and_kinematic_viscosity_are_consistent(), test_props_chain::test_ordinary_states_are_served_by_the_tables(), test_sensor_heartbeat_state_mapping_table(), test_props_chain::test_the_chain_falls_through_to_the_equation_of_state(), test_thresholds(), updateLedNonBlocking(), updateLedNonBlocking(), and fsw::config::SensorAssignmentManager::~SensorAssignmentManager().

◆ state_enter_ms

unsigned long state_enter_ms = 0
static

Definition at line 60 of file main.cpp.

Referenced by applyPacketTransition(), applyPacketTransition(), run_Active(), run_Active(), run_ConnectionLossDetected(), run_ConnectionLossDetected(), run_NoConnectionAbort(), run_NoConnectionAbort(), run_NoPTAbort(), run_PTAbort(), run_StandaloneAbort(), run_StandardAbort(), run_StandardAbort(), setState(), and setup().

◆ staticIP

IPAddress staticIP(192, 168, 2, BOARD_ID_DEFAULT) ( 192 ,
168 ,
2 ,
BOARD_ID_DEFAULT  )

Referenced by setup().

◆ subnet

IPAddress subnet(255, 255, 255, 0) ( 255 ,
255 ,
255 ,
0  )

Referenced by printBoardInfo(), and setup().

◆ udp

EthernetUDP udp

Definition at line 40 of file main.cpp.

Referenced by applyAbortToAllActuators(), applyVentToAllActuators(), flushLogs(), loop(), main(), pollNetwork(), readCurrentSensePinsAndSend(), readCurrentSensePinsAndSend(), runSelfTest(), sendAbortDoneToAllBoards(), sendBoardHeartbeat(), sendBoardHeartbeat(), sendBoardHeartbeat(), sendBoardHeartbeatTo(), sendDataChunks(), sendExampleMessage(), sendHeartbeat(), sendHeartbeatPacket(), sendNoConnectionAbortToAllPTs(), sendPositions(), sendReplyTo(), sendSensorDataPacket(), sendSensorDataPacket(), sendSensorDataPacketTo(), sendSensorPacket(), and setup().

◆ udpListenPort

const int udpListenPort = 5005

Definition at line 37 of file main.cpp.

Referenced by applyAbortToAllActuators(), applyVentToAllActuators(), sendAbortDoneToAllBoards(), and setup().