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ACK/NAK for Proto Messaging #40

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ACK/NAK for Proto Messaging #40

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1824a4b
Upload FSM for ack nak command and control msg
Cocorico101 Oct 26, 2024
ba71729
Add StateMachine States/Events enum for RCU/rocket comm. Add BaseStat…
Cocorico101 Oct 26, 2024
bda0ec7
Adjustment to StateMachineManager and BaseStateMachine to make sure t…
Cocorico101 Oct 26, 2024
12c7a2c
Move all the states from StateMachineManager for system and rocket st…
Cocorico101 Oct 27, 2024
801165e
Start the file for StateMachineManager.py. It is untested logic-wise …
Cocorico101 Oct 31, 2024
c5bebe1
Accidentally delete something. Readd
Cocorico101 Oct 31, 2024
1ca2ed5
Add basic code. Need to test logic
Cocorico101 Oct 31, 2024
4d76495
Adjust serial handler to call state machine
Cocorico101 Nov 16, 2024
912910a
Passing in the shared radio_event_queue and uart_event_queue from the…
Cocorico101 Nov 16, 2024
c94a2a4
Proof of concept. Uart and state machine thread are able to communica…
Cocorico101 Nov 23, 2024
b26814f
Implement State machine logic to account for ACK/NAK/TIMEOUT/NAK. Hav…
Cocorico101 Dec 7, 2024
5856163
Testing the workflow from receiving the msg from the serial workq, th…
Cocorico101 Dec 14, 2024
6c88bb7
Added time.sleep in the receiving thread so the state machine has tim…
Cocorico101 Jan 9, 2025
1799130
Update the flags on both the state machine and the serial handler sid…
Cocorico101 Jan 25, 2025
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4 changes: 4 additions & 0 deletions backend/proto/ControlMessage.proto
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Expand Up @@ -87,6 +87,10 @@ message SystemState {
// SoarProto v1.3.2
SYS_HEARTBEAT_LOSS_HALF_WARNING = 5; // The system has lost heartbeat and 1/2 of the time to abort has passed
SYS_HEARTBEAT_LOST_ABORTING = 6; // The system has lost heartbeat and is aborting
SYS_WAIT = 7; // System has sent commands to DMB
SYS_RETRANSMIT = 8; // System timeout or receive nak from DMB
SYS_TIMEOUT = 9; // System does not receive ack in a fixed time window
SYS_SEND_NEXT_CMD = 10; // System receives ack or retransmit twice
}

State sys_state = 1; // The current state of the system
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2 changes: 2 additions & 0 deletions backend/proto/CoreProto.proto
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Expand Up @@ -51,4 +51,6 @@ enum RocketState {
RS_ABORT = 10;
RS_TEST = 11;
RS_NONE = 12;
RS_LISTENING = 13;
RS_READY_FOR_CMD = 14;
}
16 changes: 13 additions & 3 deletions backend/proto/Python/CommandMessage_pb2.py
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38 changes: 24 additions & 14 deletions backend/proto/Python/ControlMessage_pb2.py
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8 changes: 8 additions & 0 deletions backend/proto/Python/ControlMessage_pb2.pyi
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Expand Up @@ -67,13 +67,21 @@ class SystemState(_message.Message):
SYS_NORMAL_OPERATION: _ClassVar[SystemState.State]
SYS_HEARTBEAT_LOSS_HALF_WARNING: _ClassVar[SystemState.State]
SYS_HEARTBEAT_LOST_ABORTING: _ClassVar[SystemState.State]
SYS_WAIT: _ClassVar[SystemState.State]
SYS_RETRANSMIT: _ClassVar[SystemState.State]
SYS_TIMEOUT: _ClassVar[SystemState.State]
SYS_SEND_NEXT_CMD: _ClassVar[SystemState.State]
SYS_INVALID: SystemState.State
SYS_BOOTUP_COMPLETE: SystemState.State
SYS_ASSERT_FAILURE_RESET: SystemState.State
SYS_UNCAUGHT_RESET: SystemState.State
SYS_NORMAL_OPERATION: SystemState.State
SYS_HEARTBEAT_LOSS_HALF_WARNING: SystemState.State
SYS_HEARTBEAT_LOST_ABORTING: SystemState.State
SYS_WAIT: SystemState.State
SYS_RETRANSMIT: SystemState.State
SYS_TIMEOUT: SystemState.State
SYS_SEND_NEXT_CMD: SystemState.State
SYS_STATE_FIELD_NUMBER: _ClassVar[int]
ROCKET_STATE_FIELD_NUMBER: _ClassVar[int]
sys_state: SystemState.State
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20 changes: 15 additions & 5 deletions backend/proto/Python/CoreProto_pb2.py
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4 changes: 4 additions & 0 deletions backend/proto/Python/CoreProto_pb2.pyi
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Expand Up @@ -38,6 +38,8 @@ class RocketState(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
RS_ABORT: _ClassVar[RocketState]
RS_TEST: _ClassVar[RocketState]
RS_NONE: _ClassVar[RocketState]
RS_LISTENING: _ClassVar[RocketState]
RS_READY_FOR_CMD: _ClassVar[RocketState]
NODE_INVALID: Node
NODE_UNKNOWN: Node
NODE_ANY: Node
Expand All @@ -64,3 +66,5 @@ RS_RECOVERY: RocketState
RS_ABORT: RocketState
RS_TEST: RocketState
RS_NONE: RocketState
RS_LISTENING: RocketState
RS_READY_FOR_CMD: RocketState
16 changes: 13 additions & 3 deletions backend/proto/Python/TelemetryMessage_pb2.py
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14 changes: 14 additions & 0 deletions backend/src/CommControlMsg.puml
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@@ -0,0 +1,14 @@
@startuml
[*] -right-> RCUInitialized : start
[*] -right-> RocketListening : start
RCUInitialized : RCU is on
RCUInitialized -right-> RCUWait : send first msg
RCUWait -up-> RCUTimeout : does not receive ack from rocket
RCUWait -up-> RCURetransmit : received nak from rocket
RCUWait -down-> RCUSendNextCMD : received ack from rocket
RCUWait -down-> RCUSendNextCMD : retransmit twice
RCUTimeout --> RCURetransmit
RCURetransmit --> RCUWait
RocketListening --> RocketInitialized : receive initialization sequence
RocketInitialized --> RocketReadyForCMD : send ack to rcu
@enduml
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