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Temperature Rewrite #150

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Temperature Rewrite #150

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12 changes: 6 additions & 6 deletions src/data/data.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,16 +75,16 @@ struct BrakePressureData : public SensorData {
};

struct Sensors : public Module {
static constexpr size_t kNumImus = 4;
static constexpr size_t kNumEncoders = 4;
static constexpr size_t kNumBrakePressure = 2;
static constexpr size_t kNumBrakeTemp = 2;
static constexpr size_t kNumAmbientTemp = 4;
static constexpr size_t kNumImus = 4;
static constexpr size_t kNumEncoders = 4;
static constexpr size_t kNumBrakePressure = 2;
static constexpr size_t kNumBrakeSuspensionTemp = 4;
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kNumBrakeAndSuspensionTemperature

static constexpr size_t kNumAmbientTemp = 1;
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kNumAmbientTemperature


TemperatureData temperature;
AmbientPressureData ambient_pressure;

std::array<TemperatureData, kNumBrakeTemp> brake_temperature_array;
std::array<TemperatureData, kNumBrakeSuspensionTemp> brake_suspension_temperature_array;
std::array<TemperatureData, kNumAmbientTemp> ambient_temperature_array;

DataPoint<std::array<ImuData, kNumImus>> imu;
Expand Down
2 changes: 1 addition & 1 deletion src/debugging/observer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -256,7 +256,7 @@ void Observer::addFakeImuManagerTask(std::shared_ptr<sensors::FakeTrajectory> fa

void Observer::addTemperatureTask(const uint8_t pin)
{
auto temperature = std::make_shared<sensors::Temperature>(pin);
auto temperature = std::make_shared<sensors::AmbientTemperature>(pin);
std::stringstream name;
name << "temperature-" << static_cast<uint32_t>(pin);
Task temperature_task;
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71 changes: 50 additions & 21 deletions src/sensors/main.cpp
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Expand Up @@ -77,14 +77,36 @@ Main::Main()
return;
}
if (ambient_temperature_pins->size() != data::Sensors::kNumAmbientTemp) {
log_.error("found %u temperature pins but %u were expected",
log_.error("found %u ambient temperature pins but %u were expected",
static_cast<uint32_t>(ambient_temperature_pins->size()),
static_cast<uint32_t>(data::Sensors::kNumAmbientTemp));
sys_.stop();
return;
}
for (size_t i = 0; i < data::Sensors::kNumAmbientTemp; ++i) {
ambient_temperatures_.at(i) = std::make_unique<Temperature>(ambient_temperature_pins->at(i));
ambient_temperatures_.at(i)
= std::make_unique<AmbientTemperature>(ambient_temperature_pins->at(i));
}

const auto brakes_and_suspension_temperature_pins
= brakeSuspensionTemperaturePinsFromFile(log_, sys_.config_.temperature_config_path);
if (!brakes_and_suspension_temperature_pins) {
log_.error("failed to initialise brakes and suspension temperature sensor");
sys_.stop();
return;
}

if (brakes_and_suspension_temperature_pins->size() != data::Sensors::kNumBrakeSuspensionTemp) {
log_.error("found %u brake/suspension temperature pins but %u were expected",
static_cast<uint32_t>(brakes_and_suspension_temperature_pins->size()),
static_cast<uint32_t>(data::Sensors::kNumBrakeSuspensionTemp));
sys_.stop();
return;
}

for (size_t i = 0; i < data::Sensors::kNumBrakeSuspensionTemp; ++i) {
brakes_and_suspension_temperatures_.at(i) = std::make_unique<BrakesAndSuspensionTemperature>(
brakes_and_suspension_temperature_pins->at(i));
}
}

Expand Down Expand Up @@ -142,23 +164,25 @@ void Main::checkAmbientTemperature()
ambient_temperature_data.at(i).temperature = ambient_temperatures_[i]->getData();
if ((ambient_temperature_data.at(i).temperature > 75
|| ambient_temperature_data.at(i).temperature < 1)) {
log_.info("PCB temperature is getting a wee high...sorry Cheng");
log_.info("Ambient Temperature is higher than 75 degrees");
auto sensors_data = data_.getSensorsData();
sensors_data.module_status = data::ModuleStatus::kCriticalFailure;
data_.setSensorsData(sensors_data);
}
}
}

void Main::checkBrakeTemperature()
void Main::checkBrakeAndSuspensionTemperature()
{
auto brakes_temperature_data = data_.getSensorsData().brake_temperature_array;
for (size_t i = 0; i < data::Sensors::kNumBrakeTemp; ++i) {
brake_temperatures_[i]->run(); // not a thread
brakes_temperature_data.at(i).temperature = brake_temperatures_[i]->getData();
if ((brakes_temperature_data.at(i).temperature > 75
|| brakes_temperature_data.at(i).temperature < 0)) {
log_.info("PCB temperature is getting a wee high...sorry Cheng");
auto brakes_and_suspension_temperature_data
= data_.getSensorsData().brake_suspension_temperature_array;
for (size_t i = 0; i < data::Sensors::kNumBrakeSuspensionTemp; ++i) {
brakes_and_suspension_temperatures_[i]->run(); // not a thread
brakes_and_suspension_temperature_data.at(i).temperature
= brakes_and_suspension_temperatures_[i]->getData();
if ((brakes_and_suspension_temperature_data.at(i).temperature > 85
|| brakes_and_suspension_temperature_data.at(i).temperature < 0)) {
log_.info("A Brake or Suspension pcb is hotter than 85 degrees");
auto sensors_data = data_.getSensorsData();
sensors_data.module_status = data::ModuleStatus::kCriticalFailure;
data_.setSensorsData(sensors_data);
Expand Down Expand Up @@ -272,8 +296,8 @@ std::optional<std::vector<uint8_t>> Main::ambientTemperaturePinsFromFile(utils::
return ambient_temperature_pins;
}

std::optional<std::vector<uint8_t>> Main::brakeTemperaturePinsFromFile(utils::Logger &log,
const std::string &path)
std::optional<std::vector<uint8_t>> Main::brakeSuspensionTemperaturePinsFromFile(
utils::Logger &log, const std::string &path)
{
std::ifstream input_stream(path);
if (!input_stream.is_open()) {
Expand All @@ -292,21 +316,25 @@ std::optional<std::vector<uint8_t>> Main::brakeTemperaturePinsFromFile(utils::Lo
return std::nullopt;
}
auto config_object = document["sensors"].GetObject();
if (!config_object.HasMember("temperature_pins")) {
log.error("Missing required field 'sensors.temperature_pins' in configuration file at %s",
path.c_str());
if (!config_object.HasMember("brakes_suspension_temperature_pins")) {
log.error(
"Missing required field 'sensors.brakes_suspension_temperature_pins' in configuration file "
"at %s",
path.c_str());
return std::nullopt;
}
const auto brake_temperature_pin_array = config_object["temperature_pins"].GetArray();
if (brake_temperature_pin_array.Size() != data::Sensors::kNumAmbientTemp) {
log.error("Found %d brake temperature pins but %d were expected in configuration file at %s",
brake_temperature_pin_array.Size(), data::Sensors::kNumBrakeTemp, path.c_str());
const auto brake_temperature_pin_array
= config_object["brakes_suspension_temperature_pins"].GetArray();
if (brake_temperature_pin_array.Size() != data::Sensors::kNumBrakeSuspensionTemp) {
log.error(
"Found %d brake/suspension temperature pins but %d were expected in configuration file at %s",
brake_temperature_pin_array.Size(), data::Sensors::kNumBrakeSuspensionTemp, path.c_str());
}
std::vector<uint8_t> brake_temperature_pins;
for (const auto &brake_temperature_pin : brake_temperature_pin_array) {
const auto pin = brake_temperature_pin.GetUint();
if (pin > UINT8_MAX) {
log.error("brake temperature pin value %u is too large", pin);
log.error("brake/suspension temperature pin value %u is too large", pin);
return std::nullopt;
}
brake_temperature_pins.push_back(static_cast<uint8_t>(pin));
Expand Down Expand Up @@ -409,6 +437,7 @@ void Main::run()

while (sys_.isRunning()) {
checkAmbientTemperature();
checkBrakeAndSuspensionTemperature();
checkAmbientPressure();
checkBrakePressure();
Thread::sleep(200);
Expand Down
12 changes: 5 additions & 7 deletions src/sensors/main.hpp
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Expand Up @@ -28,8 +28,8 @@ class Main : public utils::concurrent::Thread {
const std::string &path);
static std::optional<std::vector<uint8_t>> ambientTemperaturePinsFromFile(
utils::Logger &log, const std::string &path);
static std::optional<std::vector<uint8_t>> brakeTemperaturePinsFromFile(utils::Logger &log,
const std::string &path);
static std::optional<std::vector<uint8_t>> brakeSuspensionTemperaturePinsFromFile(
utils::Logger &log, const std::string &path);
static std::optional<AmbientPressurePins> ambientPressurePinsFromFile(utils::Logger &log,
const std::string &path);

Expand All @@ -52,10 +52,10 @@ class Main : public utils::concurrent::Thread {
void checkAmbientTemperature();

/**
* @brief used to check the temperature of the brake temperature sensors
* @brief used to check the temperature of the brake and suspension temperature sensors
* infrequently in main loop, unnecessary to constantly check temperature;
*/
void checkBrakeTemperature();
void checkBrakeAndSuspensionTemperature();

/**
* @brief used to check the pressure every twenty times in the main loop,
Expand All @@ -81,9 +81,7 @@ class Main : public utils::concurrent::Thread {
std::unique_ptr<BmsManager> battery_manager_;

std::array<std::unique_ptr<ITemperature>, data::Sensors::kNumAmbientTemp> ambient_temperatures_;
std::array<std::unique_ptr<ITemperature>, data::Sensors::kNumBrakeTemp> brake_temperatures_;

data::TemperatureData temperature_data_;
std::array<std::unique_ptr<ITemperature>, data::Sensors::kNumBrakeSuspensionTemp> brakes_and_suspension_temperatures_;

std::unique_ptr<IAmbientPressure> ambient_pressure_;
data::AmbientPressureData pressure_data_;
Expand Down
48 changes: 41 additions & 7 deletions src/sensors/temperature.cpp
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Expand Up @@ -6,19 +6,19 @@

namespace hyped::sensors {

Temperature::Temperature(const uint8_t pin)
: log_("TEMPERATURE", utils::System::getSystem().config_.log_level_sensors),
AmbientTemperature::AmbientTemperature(const uint8_t pin)
: log_("AMBIENT TEMPERATURE", utils::System::getSystem().config_.log_level_sensors),
pin_(pin)
{
log_.info("started temperature for pin %u", pin);
}

Temperature::~Temperature()
AmbientTemperature::~AmbientTemperature()
{
log_.info("stopped temperature for pin");
log_.info("stopped ambient temperature for pin");
}

void Temperature::run()
void AmbientTemperature::run()
{
uint16_t raw_value = pin_.read();
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const

log_.debug("raw value: %d", raw_value);
Expand All @@ -27,15 +27,49 @@ void Temperature::run()
temperature_data_.operational = true;
}

int8_t Temperature::scaleData(const uint8_t raw_value)
int8_t AmbientTemperature::scaleData(const uint8_t raw_value)
{
// convert to degrees C
double temp = static_cast<double>(raw_value) / 4095;
temp = (temp * 175) - 50;
return static_cast<int8_t>(temp);
}

uint8_t Temperature::getData() const
uint8_t AmbientTemperature::getData() const
{
return temperature_data_.temperature;
}

BrakesAndSuspensionTemperature::BrakesAndSuspensionTemperature(const uint8_t pin)
: log_("BRAKE-SUSP TEMPERATURE", utils::System::getSystem().config_.log_level_sensors),
pin_(pin)
{
log_.info("started temperature for pin %u", pin);
}

BrakesAndSuspensionTemperature::~BrakesAndSuspensionTemperature()
{
log_.info("stopped brake/suspension temperature for pin");
}

void BrakesAndSuspensionTemperature::run()
{
uint16_t raw_value = pin_.read();
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const

log_.debug("raw value: %d", raw_value);
temperature_data_.temperature = scaleData(raw_value);
log_.debug("scaled value: %d", temperature_data_.temperature);
temperature_data_.operational = true;
}

int8_t BrakesAndSuspensionTemperature::scaleData(const uint8_t raw_value)
{
// convert to degrees C
double temp = static_cast<double>(raw_value) / 4095;
temp = (temp * 175) - 50;
return static_cast<int8_t>(temp);
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This seems like a convoluted way of doing this. Is there a datasheet somewhere?
Why not the following?

return std::round(static_cast<double>(raw_value) / 23.4  - 50);

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You may have to recast the result to make the compiler happy. Actually, we may want to assert that the result is in bounds, e.g. by checking std::numeric_limits<int8_t>::max() or INT8_MAX.

}

uint8_t BrakesAndSuspensionTemperature::getData() const
{
return temperature_data_.temperature;
}
Expand Down
50 changes: 45 additions & 5 deletions src/sensors/temperature.hpp
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Expand Up @@ -8,7 +8,7 @@
namespace hyped::sensors {

using AmbientTemperaturePins = std::array<uint8_t, data::Sensors::kNumAmbientTemp>;
using BrakeTemperaturePins = std::array<uint8_t, data::Sensors::kNumBrakeTemp>;
using BrakeTemperaturePins = std::array<uint8_t, data::Sensors::kNumBrakeSuspensionTemp>;
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BrakeAndSuspension


class ITemperature {
public:
Expand All @@ -29,15 +29,55 @@ class ITemperature {
virtual uint8_t getData() const = 0;
};

class Temperature : public ITemperature {
class AmbientTemperature : public ITemperature {
public:
/**
* @brief Construct a new Temperature object
* @brief Construct a new Ambient Temperature object
*
* @param pin for specific ADC pin
*/
Temperature(const uint8_t pin);
~Temperature();
AmbientTemperature(const uint8_t pin);
~AmbientTemperature();

/**
* @brief
*
* @return int to set to data struct in sensors main
*/
uint8_t getData() const override;

/**
* @brief one interation of checking sensors
*/
void run() override;

private:
/**
* @brief scale raw digital data to output in degrees C
*
* @param raw_value input voltage
* @return int representation of temperature
*/
static int8_t scaleData(uint8_t raw_value);
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const


utils::Logger log_;
utils::io::Adc pin_;

/**
* @brief int from data structs
*/
data::TemperatureData temperature_data_;
};

class BrakesAndSuspensionTemperature : public ITemperature {
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I believe this should go into a separate file.

public:
/**
* @brief Construct a new Brakes and Suspension Temperature object
*
* @param pin for specific ADC pin
*/
BrakesAndSuspensionTemperature(const uint8_t pin);
~BrakesAndSuspensionTemperature();

/**
* @brief
Expand Down