Implement MIDAS FSM V2 Specification & Improved MIDAS Interface & Meta Logging fix & Log Error Detection & Logging Improvements & Log Introspection & Feather duo updates & Pyro I2C bus contention fixes & ADC fixes & GPS update rate changes & HITL & More..

.github/workflows/fsm_test.yml

@@ -0,0 +1,116 @@
+name: CI -- FSM SILSIM Tests
+
+on:
+  push:
+    branches:
+      - '**'
+    paths:
+      - 'MIDAS/src/finite-state-machines/**'
+      - 'MIDAS/test/fsm_test/**'
+      - 'MIDAS/src/rocket_state.h'
+      - 'MIDAS/src/command_flags.h'
+  pull_request:
+    paths:
+      - 'MIDAS/src/finite-state-machines/**'
+      - 'MIDAS/test/fsm_test/**'
+      - 'MIDAS/src/rocket_state.h'
+      - 'MIDAS/src/command_flags.h'
+  workflow_dispatch:
+
+jobs:
+  fsm_test:
+    name: FSM SILSIM Tests
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: MIDAS
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Cache pip
+        uses: actions/cache@v3
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+          restore-keys: ${{ runner.os }}-pip-
+
+      - name: Cache PlatformIO
+        uses: actions/cache@v3
+        with:
+          path: ~/.platformio
+          key: ${{ runner.os }}-pio-${{ hashFiles('**/platformio.ini') }}
+          restore-keys: ${{ runner.os }}-pio-
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.11'
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade platformio pandas matplotlib
+
+      - name: Build FSM simulator
+        run: pio run -e fsm_sim
+
+      - name: Run tests
+        id: tests
+        run: |
+          mkdir -p test/fsm_test/plots
+          PASS=0
+          FAIL=0
+          FAILED=""
+
+          for tc in test/fsm_test/test_cases/*.json; do
+            name=$(basename "$tc" .json)
+            echo "::group::Test: $name"
+
+            if python test/fsm_test/tester/run_test.py "$tc" \
+              --save-plot "test/fsm_test/plots/${name}.png"; then
+              PASS=$((PASS + 1))
+            else
+              FAIL=$((FAIL + 1))
+              FAILED="${FAILED}${name}, "
+            fi
+            echo "::endgroup::"
+          done
+
+          TOTAL=$((PASS + FAIL))
+          if [ $FAIL -eq 0 ]; then
+            SUMMARY="checkmark"
+          else
+            SUMMARY="failed: ${FAILED%, }"
+          fi
+          echo "pass=$PASS" >> "$GITHUB_OUTPUT"
+          echo "total=$TOTAL" >> "$GITHUB_OUTPUT"
+          echo "summary=$SUMMARY" >> "$GITHUB_OUTPUT"
+
+          [ $FAIL -eq 0 ]
+
+      - name: Upload plots
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: fsm-silsim-plots
+          path: MIDAS/test/fsm_test/plots/*.png
+
+      - name: Find existing comment
+        if: always() && github.event_name == 'pull_request'
+        uses: peter-evans/find-comment@v3
+        id: find-comment
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          comment-author: 'github-actions[bot]'
+          body-includes: '<!-- fsm-silsim-results -->'
+
+      - name: Comment on PR
+        if: always() && github.event_name == 'pull_request'
+        uses: peter-evans/create-or-update-comment@v4
+        with:
+          comment-id: ${{ steps.find-comment.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          edit-mode: replace
+          body: |
+            <!-- fsm-silsim-results -->
+            **FSM SILSIM:** ${{ steps.tests.outputs.pass }}/${{ steps.tests.outputs.total }} passed ${{ steps.tests.outputs.summary == 'checkmark' && '&#10003;' || format('({0})', steps.tests.outputs.summary) }} — [plots](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})

.github/workflows/kamaji_ci.yml

@@ -0,0 +1,108 @@
+name: Kamaji -- Build HITL Base
+
+on:
+  push:
+    branches:
+      - '**' # Run it on all branches
+  workflow_dispatch: 
+
+jobs:
+  build_streamer:
+    name: Build MIDAS:native_hilsim_streamer
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: MIDAS
+    steps:
+      - uses: actions/checkout@v3
+      - name: Cache pip
+        uses: actions/cache@v3
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+      - name: Cache PlatformIO
+        uses: actions/cache@v3
+        with:
+          path: ~/.platformio
+          key: ${{ runner.os }}-pio-${{ hashFiles('**/platformio.ini') }}
+          restore-keys: |
+            ${{ runner.os }}-pio-
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.11'
+      - name: Install PlatformIO
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade platformio
+      - name: PlatformIO version
+        run: pio --version
+      - name: Build native_hilsim_streamer
+        run: pio run -e native_hilsim_streamer
+      - name: Upload Artifact for native_hilsim_streamer
+        uses: actions/upload-artifact@v4
+        with:
+          name: executable-native_hilsim_streamer
+          path: MIDAS/.pio/build/native_hilsim_streamer/program
+
+
+  build_fw:
+    name: Build MIDAS:mcu_hilsim
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: MIDAS
+    steps:
+      - uses: actions/checkout@v3
+      - name: Cache pip
+        uses: actions/cache@v3
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+      - name: Cache PlatformIO
+        uses: actions/cache@v3
+        with:
+          path: ~/.platformio
+          key: ${{ runner.os }}-pio-${{ hashFiles('**/platformio.ini') }}
+          restore-keys: |
+            ${{ runner.os }}-pio-
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.11'
+      - name: Install PlatformIO
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade platformio
+      - name: PlatformIO version
+        run: pio --version
+      - name: Build mcu_hilsim
+        run: pio run -e mcu_hilsim
+      - name: Upload Artifact for mcu_hilsim
+        uses: actions/upload-artifact@v4
+        with:
+          name: firmware-mcu_hilsim
+          path: MIDAS/.pio/build/mcu_hilsim/firmware*.*
+
+
+  notify:
+    name: Slack Notification (main)
+    needs: [build_streamer, build_fw]
+    runs-on: ubuntu-latest
+    if: github.ref == 'refs/heads/main'
+    steps:
+      - name: Send Slack Summary
+        uses: rtCamp/action-slack-notify@v2
+        env:
+          SLACK_COLOR: ${{ (needs.build_fw.result == 'success') && 'good' || 'danger' }}
+          SLACK_TITLE: "Kamaji Firmware Build"
+          SLACK_MESSAGE: |
+            Build results:
+            - *MIDAS:mcu_hilsim*: ${{ needs.build_fw.result }}
+
+            :information_source: CI Notifications only run on the `main` branch.
+          SLACK_WEBHOOK: ${{ secrets.SLACK_WEBHOOK_URL }}

.github/workflows/platformio_ci.yml

@@ -7,8 +7,8 @@ on:
   workflow_dispatch: 
 
 jobs:
-  build_sustainer:
-    name: Build MIDAS:mcu_main_sustainer
+  build_fsw:
+    name: Build MIDAS:mcu_main
     runs-on: ubuntu-latest
     defaults:
       run:
@@ -39,53 +39,13 @@ jobs:
           pip install --upgrade platformio
       - name: PlatformIO version
         run: pio --version
-      - name: Build mcu_main_sustainer
-        run: pio run -e mcu_main_sustainer
-      - name: Upload Artifact for mcu_main_sustainer
+      - name: Build mcu_main
+        run: pio run -e mcu_main
+      - name: Upload Artifact for mcu_main
         uses: actions/upload-artifact@v4
         with:
-          name: firmware-mcu_main_sustainer
-          path: MIDAS/.pio/build/mcu_main_sustainer/firmware*.*
-
-  build_booster:
-    name: Build MIDAS:mcu_main_booster
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        working-directory: MIDAS
-    steps:
-      - uses: actions/checkout@v3
-      - name: Cache pip
-        uses: actions/cache@v3
-        with:
-          path: ~/.cache/pip
-          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
-          restore-keys: |
-            ${{ runner.os }}-pip-
-      - name: Cache PlatformIO
-        uses: actions/cache@v3
-        with:
-          path: ~/.platformio
-          key: ${{ runner.os }}-pio-${{ hashFiles('**/platformio.ini') }}
-          restore-keys: |
-            ${{ runner.os }}-pio-
-      - name: Set up Python
-        uses: actions/setup-python@v4
-        with:
-          python-version: '3.11'
-      - name: Install PlatformIO
-        run: |
-          python -m pip install --upgrade pip
-          pip install --upgrade platformio
-      - name: PlatformIO version
-        run: pio --version
-      - name: Build mcu_main_booster
-        run: pio run -e mcu_main_booster
-      - name: Upload Artifact for mcu_main_booster
-        uses: actions/upload-artifact@v4
-        with:
-          name: firmware-mcu_main_booster
-          path: MIDAS/.pio/build/mcu_main_booster/firmware*.*
+          name: firmware-mcu_main
+          path: MIDAS/.pio/build/mcu_main/firmware*.*
 
   build_feather_duo:
     name: Build ground:feather_duo
@@ -169,19 +129,18 @@ jobs:
 
   notify:
     name: Slack Notification Summary (main)
-    needs: [build_sustainer, build_booster, build_feather_duo, build_cam]
+    needs: [build_fsw, build_feather_duo, build_cam]
     runs-on: ubuntu-latest
     if: github.ref == 'refs/heads/main'
     steps:
       - name: Send Slack Summary
         uses: rtCamp/action-slack-notify@v2
         env:
-          SLACK_COLOR: ${{ (needs.build_sustainer.result == 'success' && needs.build_booster.result == 'success' && needs.build_feather_duo.result == 'success' && needs.build_cam.result == 'success') && 'good' || 'danger' }}
+          SLACK_COLOR: ${{ (needs.build_fsw.result == 'success' && needs.build_feather_duo.result == 'success' && needs.build_cam.result == 'success') && 'good' || 'danger' }}
           SLACK_TITLE: "Firmware Build Summary"
           SLACK_MESSAGE: |
             Build results:
-            - *MIDAS:mcu_main_sustainer*: ${{ needs.build_sustainer.result }}
-            - *MIDAS:mcu_main_booster*: ${{ needs.build_booster.result }}
+            - *MIDAS:mcu_main*: ${{ needs.build_fsw.result }}
             - *ground:feather_duo*: ${{ needs.build_feather_duo.result }}
             - *CamBoard:CamBoard*: ${{ needs.build_cam.result }}
 

.gitignore

@@ -2,3 +2,4 @@
 .vscode/
 outputs/*
 ground/outputs/*
+buzzer/midi-files/*

MIDAS/.gitignore

@@ -2,6 +2,9 @@
 .vscode
 /src/log_checksum.h
 /src/esp_eeprom_checksum.h
+/src/log_format_AUTOGEN.h
 **/.DS_Store
 *.launch
-*.pyc
+*.bin
+*.pyc
+/test/fsm_test/output/*