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Temporarily disable LIM-related sensors in FSM #121

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Temporarily disable LIM-related sensors in FSM #121

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b27d512
remove limtemp
ryescholin Jun 1, 2024
188405b
chk
ryescholin Jun 1, 2024
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33 changes: 0 additions & 33 deletions pod-operation/src/state_machine.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,6 @@ use crate::components::brakes::Brakes;
use crate::components::gyro::Gyroscope;
use crate::components::high_voltage_system::HighVoltageSystem;
use crate::components::lidar::Lidar;
use crate::components::lim_temperature::LimTemperature;
use crate::components::pressure_transducer::PressureTransducer;
use crate::components::signal_light::SignalLight;
use crate::components::wheel_encoder::WheelEncoder;
Expand All @@ -22,7 +21,6 @@ const TICK_INTERVAL: Duration = Duration::from_millis(100);
const STOP_THRESHOLD: f32 = 37.0; // Meters
const MIN_PRESSURE: f32 = 126.0; // PSI
const END_OF_TRACK: f32 = 8.7; // Meters
const LIM_TEMP_THRESHOLD: f32 = 71.0; //°C
const BRAKING_THRESHOLD: f32 = 9.1; // Meters
const BRAKING_DECELERATION: f32 = -15.14; // m/s^2
const ENCODER_SAMPLE_INTERVAL: Duration = Duration::from_micros(100);
Expand All @@ -49,8 +47,6 @@ pub struct StateMachine {
signal_light: SignalLight,
upstream_pressure_transducer: PressureTransducer,
downstream_pressure_transducer: PressureTransducer,
lim_temperature_port: LimTemperature,
lim_temperature_starboard: LimTemperature,
high_voltage_system: HighVoltageSystem,
lidar: Lidar,
wheel_encoder: std::sync::Arc<std::sync::Mutex<WheelEncoder>>,
Expand Down Expand Up @@ -105,10 +101,6 @@ impl StateMachine {
signal_light: SignalLight::new(),
upstream_pressure_transducer: PressureTransducer::upstream(),
downstream_pressure_transducer: PressureTransducer::downstream(),
lim_temperature_port: LimTemperature::new(ads1x1x::SlaveAddr::Default),
lim_temperature_starboard: LimTemperature::new(ads1x1x::SlaveAddr::Alternative(
false, true,
)),
high_voltage_system: HighVoltageSystem::new(),
lidar: Lidar::new(),
gyro: Gyroscope::new(),
Expand Down Expand Up @@ -175,16 +167,11 @@ impl StateMachine {
let gyro_data = self.gyro.read_orientation();
let downstream_pressure_data = self.downstream_pressure_transducer.read_pressure();
let upstream_pressure_data = self.upstream_pressure_transducer.read_pressure();
let lim_temp_port_data = self.lim_temperature_port.read_lim_temps();
let lim_temp_starboard_data = self.lim_temperature_starboard.read_lim_temps();

// Full JSON object
let full_json = json!({
"gyroscope": gyro_data,
"downstream_pressure_transducer": downstream_pressure_data,
"upstream_pressure_transducer": upstream_pressure_data,
"lim_temperature_port": lim_temp_port_data,
"lim_temperature_starboard": lim_temp_starboard_data,
});

self.io
Expand Down Expand Up @@ -294,26 +281,6 @@ impl StateMachine {
return State::Faulted;
}

let default_readings = self.lim_temperature_port.read_lim_temps();
let alternative_readings = self.lim_temperature_starboard.read_lim_temps();
if default_readings
.iter()
.chain(alternative_readings.iter())
.any(|&reading| reading > LIM_TEMP_THRESHOLD)
{
self.io
.of("/control-station")
.unwrap()
.emit(
"fault",
(
"High temperature detected, should be below {} C.",
LIM_TEMP_THRESHOLD,
),
)
.ok();
return State::Faulted;
}
// Last 20% of the track, as indicated by braking
if self.lidar.read_distance() < END_OF_TRACK {
self.io
Expand Down