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THRUSTERS: raise alarm on fatal thruster configuration #257

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THRUSTERS: raise alarm on fatal thruster configuration #257

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5c26166
B_MATRIX KILL: Fix merge issue
LucasBA Jun 5, 2017
6c8a102
THRUSTER ALARM: Update B matrix in mapper when a thruster goes out
LucasBA May 26, 2017
d9268fb
THRUSTER ALARM: Fix B matrix service call and rank check
LucasBA May 26, 2017
2876a0e
THRUSTER ALARM: Clean up try logic
LucasBA May 26, 2017
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118 changes: 85 additions & 33 deletions drivers/sub8_videoray_m5_thruster/nodes/thruster_driver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
from std_msgs.msg import Header, Float64
from sub8_msgs.msg import Thrust, ThrusterStatus
from mil_ros_tools import wait_for_param, thread_lock
from sub8_msgs.srv import ThrusterInfo, ThrusterInfoResponse, FailThruster, FailThrusterResponse
from sub8_msgs.srv import ThrusterInfo, ThrusterInfoResponse, FailThruster, FailThrusterResponse, UpdateThrusterLayout, BMatrix
from sub8_thruster_comm import thruster_comm_factory
from ros_alarms import AlarmBroadcaster, AlarmListener
lock = threading.Lock()
Expand Down Expand Up @@ -221,38 +221,6 @@ def check_for_drops(self, *args):
rospy.logwarn("Thruster {} has come back online".format(name))
self.alert_thruster_unloss(name)

def alert_thruster_unloss(self, thruster_name):
if thruster_name in self.failed_thrusters:
self.failed_thrusters.remove(thruster_name)

if len(self.failed_thrusters) == 0:
self.thruster_out_alarm.clear_alarm(parameters={"clear_all"})
else:
severity = 3 if len(self.failed_thrusters) <= rospy.get_param("thruster_loss_limit", 2) else 5
rospy.logerr(self.failed_thrusters)
self.thruster_out_alarm.raise_alarm(
parameters={
'thruster_names': self.failed_thrusters,
},
severity=severity
)

def alert_thruster_loss(self, thruster_name, last_update):
if thruster_name not in self.failed_thrusters:
self.failed_thrusters.append(thruster_name)

# Severity rises to 5 if too many thrusters are out
severity = 3 if len(self.failed_thrusters) <= rospy.get_param("thruster_loss_limit", 2) else 5
rospy.logerr(self.failed_thrusters)
self.thruster_out_alarm.raise_alarm(
problem_description='Thruster {} has failed'.format(thruster_name),
parameters={
'thruster_names': self.failed_thrusters,
'last_update': last_update
},
severity=severity
)

def fail_thruster(self, srv):
self.alert_thruster_loss(srv.thruster_name, None)
return FailThrusterResponse()
Expand Down Expand Up @@ -337,6 +305,90 @@ def stop(self):
if name not in self.failed_thrusters:
self.command_thruster(name, 0.0)

def alert_thruster_unloss(self, thruster_name):
if thruster_name in self.failed_thrusters:
self.failed_thrusters.remove(thruster_name)
if len(self.failed_thrusters) == 0:
self.thruster_out_alarm.clear_alarm(parameters={"clear_all"})
try:
update = rospy.ServiceProxy('update_thruster_layout', UpdateThrusterLayout)
update()
get_b = rospy.ServiceProxy('b_matrix', BMatrix)
b_proxy = get_b()
B = np.asmatrix(b_proxy.B).reshape(6, -1)
if (np.linalg.matrix_rank(B) < 6):
self.thruster_out_alarm.raise_alarm(
parameters={
'thruster_names': self.failed_thrusters,
'issue': "B MATRIX IS SINGULAR",
},
severity=5
)

except rospy.ServiceException, e:
rospy.logerr("Service call failed: %s"%e)
# Severity rises to 5 if too many thrusters are out
severity = 3 if len(self.failed_thrusters) <= rospy.get_param("thruster_loss_limit", 2) else 5
rospy.logerr(self.failed_thrusters)
self.thruster_out_alarm.raise_alarm(
problem_description='Thruster {} has failed'.format(thruster_name),
parameters={
'thruster_names': self.failed_thrusters,
'last_update': last_update
},
severity=severity
)

def alert_thruster_loss(self, thruster_name, last_update):
if thruster_name not in self.failed_thrusters:
self.failed_thrusters.append(thruster_name)
try:
update = rospy.ServiceProxy('update_thruster_layout', UpdateThrusterLayout)
update()
get_b = rospy.ServiceProxy('b_matrix', BMatrix)
b_proxy = get_b()
B = np.asmatrix(b_proxy.B).reshape(6, -1)
if (np.linalg.matrix_rank(B) < 6):
self.thruster_out_alarm.raise_alarm(
parameters={
'thruster_names': self.failed_thrusters,
'issue': "B MATRIX IS SINGULAR",
},
severity=5
)

except rospy.ServiceException, e:
rospy.logerr("Service call failed: %s"%e)
# Severity rises to 5 if too many thrusters are out
severity = 3 if len(self.failed_thrusters) <= rospy.get_param("thruster_loss_limit", 2) else 5
rospy.logerr(self.failed_thrusters)
self.thruster_out_alarm.raise_alarm(
problem_description='Thruster {} has failed'.format(thruster_name),
parameters={
'thruster_names': self.failed_thrusters,
'last_update': last_update
},
severity=severity
)

def alert_bus_voltage(self, voltage):
severity = 3
# Kill if the voltage goes too low
if self.bus_voltage < rospy.get_param("/battery/kill_voltage", 44.0):
severity = 5

self.bus_voltage_alarm.raise_alarm(
problem_description='Bus voltage has fallen to {}'.format(voltage),
parameters={
'bus_voltage': voltage,
},
severity=severity
)

def fail_thruster(self, srv):
self.alert_thruster_loss(srv.thruster_name, None)
return FailThrusterResponse()


if __name__ == '__main__':
PKG = 'sub8_videoray_m5_thruster'
Expand Down
13 changes: 9 additions & 4 deletions gnc/sub8_thruster_mapper/nodes/mapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -63,10 +63,14 @@ def update_layout(self, srv):
self.max_thrusts = np.copy(self.default_max_thrusts)

for thruster_name in self.dropped_thrusters:
thruster_index = self.thruster_name_map.index(thruster_name)
self.min_thrusts[thruster_index] = -self.min_commandable_thrust * 0.5
self.max_thrusts[thruster_index] = self.min_commandable_thrust * 0.5

try:
thruster_index = self.thruster_name_map.index(thruster_name)
self.min_thrusts[thruster_index] = -self.min_commandable_thrust * 0.5
self.max_thrusts[thruster_index] = self.min_commandable_thrust * 0.5
except:
print "Failed"
self.thruster_layout['thrusters'].pop(thruster_name, "None")
self.B = self.generate_B(self.thruster_layout)
rospy.logwarn("Layout updated")
return UpdateThrusterLayoutResponse()

Expand Down Expand Up @@ -123,6 +127,7 @@ def generate_B(self, layout):
)
self.num_thrusters += 1
B.append(wrench_column)

return np.transpose(np.array(B))

def map(self, wrench):
Expand Down