Repository: RIT-Launch-Initiative/FSW
Pull request #247: Camera Shut Off Timer
Author: login: AarC10
Created: 2025-03-10T04:02:16Z | Merged: 2025-03-11T00:38:00Z

This closes #224

# Description
Add a 10 minute shut off timer after the rocket lands to prevent overheating 

## Type of change
- [x] New feature (non-breaking change which adds functionality)

# How Has This Been Tested?
Will be tested alongside a PR that has to listen for events from sensor/deployment module.

# Checklist:

- [x] New functionality is documented in the necessary spots (i.e new functions documented in the header)
- [x] Unit tests cover any new functionality or edge cases that the PR was meant to resolve (if applicable) 
- [x] The CI checks are passing
- [x] I reviewed my own code in the GitHub diff and am sure that each change is intentional
- [x] I feel comfortable about this code flying in a rocket



Linked issue #224: Radiomod GPIO Auto-shutoff
**Is your feature request related to a problem? Please describe.**
Currently, the VTX is remotely activated by setting a GPIO pin to high when a command is sent to radiomod. Because the VTX produces a lot of heat, we would like to turn it off after the flight is completed to prevent damage to the components. However, we will not be able to send a command from the ground station, as we will no longer have radio contact with the rocket.

**Describe the solution you'd like**
Using the newly implemented phase detection, once the rocket detects ground hit, start a 10 minute timer that turns off the radiomod GPIOs when it expires.

**Additional context**

Diff:
diff --git a/app/backplane/radio_module/.idea/editor.xml b/app/backplane/radio_module/.idea/editor.xml
index eb6051c5..5615cb5b 100644
--- a/app/backplane/radio_module/.idea/editor.xml
+++ b/app/backplane/radio_module/.idea/editor.xml
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   </component>
 </project>
\ No newline at end of file
diff --git a/app/backplane/radio_module/include/c_lora_receive_tenant.h b/app/backplane/radio_module/include/c_lora_receive_tenant.h
index 845f2c34..a26e2c4e 100644
--- a/app/backplane/radio_module/include/c_lora_receive_tenant.h
+++ b/app/backplane/radio_module/include/c_lora_receive_tenant.h
@@ -4,15 +4,14 @@
 
 #include <c_lora_transmit_tenant.h>
 
-#include "n_radio_module_types.h"
-
 #include <f_core/c_pad_flight_landing_state_machine.h>
 #include <f_core/os/c_tenant.h>
-#include <f_core/radio/c_lora.h>
 #include <f_core/net/network/c_ipv4.h>
 #include <f_core/net/transport/c_udp_socket.h>
-#include <f_core/messaging/c_message_port.h>
 #include <f_core/device/c_gpio.h>
+#include <f_core/utils/c_soft_timer.h>
+
+void shutoffTimerExpirationFn(k_timer* timer);
 
 class CLoraReceiveTenant : public CTenant, public CPadFlightLandedStateMachine {
 public:
@@ -61,6 +60,8 @@ class CLoraReceiveTenant : public CTenant, public CPadFlightLandedStateMachine {
 
 private:
     CLoraTransmitTenant& loraTransmitTenant;
+    CSoftTimer shutoffTimer{shutoffTimerExpirationFn, nullptr};
+
     CUdpSocket udp; 
     CGpio gpios[4] = {
         CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio0), gpios)),
diff --git a/app/backplane/radio_module/src/c_lora_receive_tenant.cpp b/app/backplane/radio_module/src/c_lora_receive_tenant.cpp
index 98c95ba9..325bcb21 100644
--- a/app/backplane/radio_module/src/c_lora_receive_tenant.cpp
+++ b/app/backplane/radio_module/src/c_lora_receive_tenant.cpp
@@ -7,6 +7,19 @@
 
 LOG_MODULE_REGISTER(CLoraReceiveTenant);
 
+static bool camerasTurnedOff = false;
+void shutoffTimerExpirationFn(k_timer* timer) {
+    LOG_INF("Shutting off cameras");
+
+    CGpio *gpios = static_cast<CGpio*>(k_timer_user_data_get(timer));
+
+    for (int i = 0; i < 4; i++)  {
+        gpios[i].SetPin(0);
+    }
+
+    camerasTurnedOff = true;
+}
+
 void CLoraReceiveTenant::Startup() {}
 
 void CLoraReceiveTenant::PostStartup() {}
@@ -68,8 +81,17 @@ void CLoraReceiveTenant::FlightRun() {
     // Should not receive anything while in flight
 }
 
+
+
 void CLoraReceiveTenant::LandedRun() {
-    // Should not receive anything while landed
+    if (!shutoffTimer.IsRunning() && !camerasTurnedOff) {
+        shutoffTimer.SetUserData(gpios);
+        shutoffTimer.StartTimer(1000 * 60 * 10); // 10 minutes
+    }
+
+    if (shutoffTimer.IsRunning() && camerasTurnedOff) {
+        shutoffTimer.StopTimer();
+    }
 }
 
 void CLoraReceiveTenant::GroundRun() {
diff --git a/include/f_core/utils/c_soft_timer.h b/include/f_core/utils/c_soft_timer.h
index f8ee089b..c60ce50e 100644
--- a/include/f_core/utils/c_soft_timer.h
+++ b/include/f_core/utils/c_soft_timer.h
@@ -28,6 +28,7 @@ class CSoftTimer {
         // Duration (second arg) is the initial expiration time
         // Period (third arg) is the time set after each expiration
         k_timer_start(&timer, K_MSEC(millis), K_MSEC(millis));
+        running = true;
     }
 
     /**
@@ -35,6 +36,7 @@ class CSoftTimer {
     */
     void StopTimer() {
         k_timer_stop(&timer);
+        running = false;
     }
 
     /**
@@ -60,15 +62,49 @@ class CSoftTimer {
         return k_timer_remaining_get(&timer);
     }
 
+    /**
+     * Check if the timer is running
+     * @return True if the timer is running, false otherwise
+     */
+    bool IsRunning() const {
+        return running;
+    }
+
     /**
     * Check if the timer has expired
+    * @return True if the timer has expired, false otherwise
     */
     bool IsExpired() {
         return k_timer_status_get(&timer) != 0;
     }
 
+    /**
+     * Set the user data for the timer. Ideal for passing data to callbacks
+     * @param data User data to set
+     */
+    void SetUserData(void* data) {
+        k_timer_user_data_set(&timer, data);
+    }
+
+    /**
+     * Get the user data for the timer
+     * @return User data
+     */
+    void *GetUserData() const {
+        return k_timer_user_data_get(&timer);
+    }
+
+    /**
+     * Get the number of times the timer expired since this function was last called
+     * @return Expiration count since last read
+     */
+    int GetExpiredCountSinceLastRead() {
+        return k_timer_status_get(&timer);
+    }
+
 private:
     k_timer timer;
+    bool running = false;
 };
 
 


Reviews:
user: login: cowsed
state: COMMENTED
author_association: CONTRIBUTOR
submitted_at: 2025-03-10T04:29:34Z
user: login: ZZwatermelon
state: COMMENTED
author_association: CONTRIBUTOR
submitted_at: 2025-03-10T16:03:20Z
user: login: AarC10
state: COMMENTED
author_association: MEMBER
submitted_at: 2025-03-10T19:13:43Z
user: login: AarC10
state: COMMENTED
author_association: MEMBER
submitted_at: 2025-03-10T19:14:45Z
user: login: cowsed
state: COMMENTED
author_association: CONTRIBUTOR
submitted_at: 2025-03-10T19:19:15Z
user: login: cowsed
state: COMMENTED
author_association: CONTRIBUTOR
submitted_at: 2025-03-10T19:20:31Z
user: login: ZZwatermelon
state: COMMENTED
author_association: CONTRIBUTOR
submitted_at: 2025-03-10T19:34:40Z
user: login: ZZwatermelon
state: APPROVED
author_association: CONTRIBUTOR
submitted_at: 2025-03-10T19:34:51Z
user: login: AarC10
state: COMMENTED
author_association: MEMBER
submitted_at: 2025-03-10T19:38:24Z
user: login: AarC10
state: COMMENTED
author_association: MEMBER
submitted_at: 2025-03-10T19:52:40Z
user: login: cowsed
state: APPROVED
author_association: CONTRIBUTOR
submitted_at: 2025-03-10T22:39:38Z

Review comments:
diff_hunk: @@ -68,8 +68,26 @@ void CLoraReceiveTenant::FlightRun() {
     // Should not receive anything while in flight
 }
 
+static void shutoffTimerExpirationFn(k_timer* timer) {
+    LOG_INF("Shutting off cameras");
+    CGpio gpios[4] = {
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio0), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio1), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio2), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio3), gpios))
+    };
+
+    for (auto & gpio : gpios) {
+        gpio.SetPin(0);
+    }
+}
+
 void CLoraReceiveTenant::LandedRun() {
     // Should not receive anything while landed
+    CSoftTimer shutoffTimer{shutoffTimerExpirationFn, nullptr};
path: app/backplane/radio_module/src/c_lora_receive_tenant.cpp
user: login: cowsed
body: Won't this 
- A. block the state machine task for ten minutes (not that big a deal if theres nothing else on that thread but afaik kinda against the ideas of tasks and tenants *(or wait actually do we want to transmit from the ground bc this is on the lora task and so we will only get transmissions every ten minutes. it doesnt look likee transmitting on the ground is written but that seems like something useful to have so we can get landing coordinates)* and 
- B. repeat and shutoff gpios once every ten minutes bc the task will call StateMachine::Clock(), sleep ten minutes, wake up, shut off, return, then call Clock again and repeat. Like shutting things off multiple times isnt that big a deal bc its just off and then off again but this seems like not the best way to go about this
created_at: 2025-03-10T04:28:29Z
author_association: CONTRIBUTOR
diff_hunk: @@ -68,8 +68,26 @@ void CLoraReceiveTenant::FlightRun() {
     // Should not receive anything while in flight
 }
 
+static void shutoffTimerExpirationFn(k_timer* timer) {
+    LOG_INF("Shutting off cameras");
+    CGpio gpios[4] = {
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio0), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio1), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio2), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio3), gpios))
+    };
path: app/backplane/radio_module/src/c_lora_receive_tenant.cpp
user: login: ZZwatermelon
body: c_lora_receive_tenant.h already defines an array of CGpios, why are you remaking it here?
created_at: 2025-03-10T16:03:19Z
author_association: CONTRIBUTOR
diff_hunk: @@ -68,8 +68,26 @@ void CLoraReceiveTenant::FlightRun() {
     // Should not receive anything while in flight
 }
 
+static void shutoffTimerExpirationFn(k_timer* timer) {
+    LOG_INF("Shutting off cameras");
+    CGpio gpios[4] = {
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio0), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio1), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio2), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio3), gpios))
+    };
path: app/backplane/radio_module/src/c_lora_receive_tenant.cpp
user: login: AarC10
body: Its a static function that is not part of the class. We can't really make it part of the class, because its a Zephyr callback function and trying to make it a part of the class would get messy
created_at: 2025-03-10T19:04:30Z
author_association: MEMBER
diff_hunk: @@ -68,8 +68,26 @@ void CLoraReceiveTenant::FlightRun() {
     // Should not receive anything while in flight
 }
 
+static void shutoffTimerExpirationFn(k_timer* timer) {
+    LOG_INF("Shutting off cameras");
+    CGpio gpios[4] = {
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio0), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio1), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio2), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio3), gpios))
+    };
+
+    for (auto & gpio : gpios) {
+        gpio.SetPin(0);
+    }
+}
+
 void CLoraReceiveTenant::LandedRun() {
     // Should not receive anything while landed
+    CSoftTimer shutoffTimer{shutoffTimerExpirationFn, nullptr};
path: app/backplane/radio_module/src/c_lora_receive_tenant.cpp
user: login: AarC10
body: We don't need to block until the timer expires I guess. Could just have a boolean flag that gets updated in the callback so Ill make that modification
created_at: 2025-03-10T19:05:30Z
author_association: MEMBER
diff_hunk: @@ -68,8 +68,26 @@ void CLoraReceiveTenant::FlightRun() {
     // Should not receive anything while in flight
 }
 
+static void shutoffTimerExpirationFn(k_timer* timer) {
+    LOG_INF("Shutting off cameras");
+    CGpio gpios[4] = {
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio0), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio1), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio2), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio3), gpios))
+    };
+
+    for (auto & gpio : gpios) {
+        gpio.SetPin(0);
+    }
+}
+
 void CLoraReceiveTenant::LandedRun() {
     // Should not receive anything while landed
+    CSoftTimer shutoffTimer{shutoffTimerExpirationFn, nullptr};
path: app/backplane/radio_module/src/c_lora_receive_tenant.cpp
user: login: AarC10
body: Improved the logic
created_at: 2025-03-10T19:14:45Z
author_association: MEMBER
diff_hunk: @@ -68,8 +68,26 @@ void CLoraReceiveTenant::FlightRun() {
     // Should not receive anything while in flight
 }
 
+static void shutoffTimerExpirationFn(k_timer* timer) {
+    LOG_INF("Shutting off cameras");
+    CGpio gpios[4] = {
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio0), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio1), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio2), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio3), gpios))
+    };
path: app/backplane/radio_module/src/c_lora_receive_tenant.cpp
user: login: cowsed
body: this might fall under the "that would be messy" but you could set the user data pointer of the k timer to be the 'this' pointer on timer setup and then in the expiry function you cast the user data voidstar back to a pointer to this class and access the list that's a member and not have to redefine it
created_at: 2025-03-10T19:19:15Z
author_association: CONTRIBUTOR
diff_hunk: @@ -68,8 +68,26 @@ void CLoraReceiveTenant::FlightRun() {
     // Should not receive anything while in flight
 }
 
+static void shutoffTimerExpirationFn(k_timer* timer) {
+    LOG_INF("Shutting off cameras");
+    CGpio gpios[4] = {
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio0), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio1), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio2), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio3), gpios))
+    };
path: app/backplane/radio_module/src/c_lora_receive_tenant.cpp
user: login: cowsed
body: you should be able to have a static member function of c lora receive tenant such that it still has access to private members but can be passed as the callback. or could make it a friend
created_at: 2025-03-10T19:20:31Z
author_association: CONTRIBUTOR
diff_hunk: @@ -68,8 +85,19 @@ void CLoraReceiveTenant::FlightRun() {
     // Should not receive anything while in flight
 }
 
+
+
 void CLoraReceiveTenant::LandedRun() {
-    // Should not receive anything while landed
path: app/backplane/radio_module/src/c_lora_receive_tenant.cpp
user: login: ZZwatermelon
body: Do you want to keep this comment?
created_at: 2025-03-10T19:34:40Z
author_association: CONTRIBUTOR
diff_hunk: @@ -68,8 +85,19 @@ void CLoraReceiveTenant::FlightRun() {
     // Should not receive anything while in flight
 }
 
+
+
 void CLoraReceiveTenant::LandedRun() {
-    // Should not receive anything while landed
path: app/backplane/radio_module/src/c_lora_receive_tenant.cpp
user: login: AarC10
body: Nah. I just leave a comment in if its an empty function. 
created_at: 2025-03-10T19:38:24Z
author_association: MEMBER
diff_hunk: @@ -68,8 +68,26 @@ void CLoraReceiveTenant::FlightRun() {
     // Should not receive anything while in flight
 }
 
+static void shutoffTimerExpirationFn(k_timer* timer) {
+    LOG_INF("Shutting off cameras");
+    CGpio gpios[4] = {
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio0), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio1), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio2), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio3), gpios))
+    };
path: app/backplane/radio_module/src/c_lora_receive_tenant.cpp
user: login: AarC10
body: Honestly it slipped my mind that k_timer allows you to pass user data and seems clean enough when implementing it so we can do that now. CSoftTimer is better now too lol.
created_at: 2025-03-10T19:52:39Z
author_association: MEMBER

PR comments:
user: login: ZZwatermelon
created_at: 2025-03-10T15:56:53Z
body:  > Add a 10 minute shut off timer after the rocket lands to conserve battery.

 The idea is not really to preserve the battery, its primarily to protect the components from overheating. It also reduces the amount of time the VTX & Fan are powered on when they are in an unknown configuration lying on the ground.
author_association: CONTRIBUTOR
user: login: cowsed
created_at: 2025-03-10T22:38:05Z
body: Rad
author_association: CONTRIBUTOR