feat: improve data injection reliability with 3 byte ack

include/simulation/Serial_Sim.h

@@ -160,10 +160,13 @@ class SerialSim {
         return value;
     }
 
-    // Send ACK (0x06) alongside the current state to the serial port
+    // Send ACK alongside the current state to the serial port
     void ack(){
         serial->write(stateMachine->getState());
-        serial->write(0x06);
+        // Ack will be a series of 0xaa, 0xbb, 0xcc
+        serial->write(0xaa);
+        serial->write(0xbb);
+        serial->write(0xcc);
     }
 
 private:

include/simulation/simulation.py

@@ -2,9 +2,18 @@
 import time
 import pandas as pd 
 import matplotlib.pyplot as plt
+import sys 
+
+# Serial port is the first arg
+if len(sys.argv) <= 1:
+    raise ValueError("Please provide the serial port as the first argument, e.g. 'COM3' or '/dev/ttyACM0'"
+    " This is the same port you use to monitor or send commands via the UARTCommandHandler")
+
+
+serial_port = sys.argv[1]
 
 # Set up the serial connection (adjust the port to your system)
-ser = serial.Serial('/dev/ttyACM0', 115200, timeout=1)  # Replace 'COM3' with your port name
+ser = serial.Serial(serial_port, 115200, timeout=1)  # Replace 'COM3' with your port name
 time.sleep(2)  # Allow time for the connection to be established
 
 # Clear the buffer
@@ -105,18 +114,24 @@ def stream_csv_data(csv_file):
 
         # Wait for acknowledgment before continuing
         buffer = b''
+        wait_for_ack_start_time = time.time()
         while True:
             if ser.in_waiting > 0:
                 buffer += ser.read_all()   
-                if b'\x06' in buffer:
-                    # The byte after ack is the current state of the rocket
-                    loc = buffer.index(b'\x06')
+                # Check for the series of 0xaa, 0xbb, 0xcc in the buffer to confirm acknowledgment
+                if b'\xaa\xbb\xcc' in buffer:
+                    # The byte right before the ack series is the state
+                    loc = buffer.find(b'\xaa\xbb\xcc')
                     print("Received acknowledgment: ", buffer)
                     state = buffer[loc - 1]
                     break
                 else:
                     # pass 
                     print("Waiting for acknowledgment got: ", buffer)
+            if time.time() - wait_for_ack_start_time > 5:  # Timeout after 5 seconds
+                print("Timeout waiting for acknowledgment, resending data.")
+                ser.write(interpolated_data.encode())
+                wait_for_ack_start_time = time.time()  # Reset the timer
 
         sent_data.append(interpolated_data.split(',') + [state])
 
@@ -155,6 +170,9 @@ def stream_csv_data(csv_file):
     plt.legend()
     plt.show()
 
+    # Save the plot as an image
+    plt.savefig('serial_simulation_plot.png')
+
 try:
     # Wait for the start command before streaming
     wait_for_start_command()

include/simulation/simulation_requirements.txt

@@ -0,0 +1,3 @@
+matplotlib
+pyserial
+pandas

include/state_estimation/States.h

@@ -10,16 +10,16 @@
 // apogee is an event that causes a transition from STATE_ASCENT to STATE_DESCENT, but it is not a state itself.
 // The state machines are in charge of detecting these transitions and updating the states. 
 enum FlightState {
-    STATE_UNARMED,
-    STATE_ARMED,
-    STATE_SOFT_ASCENT,
-    STATE_ASCENT, // Don't use the ascent state if you are already using powered ascent and coast ascent
-    STATE_POWERED_ASCENT,
-    STATE_COAST_ASCENT,
-    STATE_DESCENT,
-    STATE_DROGUE_DEPLOYED,
-    STATE_MAIN_DEPLOYED,
-    STATE_LANDED,
+    STATE_UNARMED, // 0x00
+    STATE_ARMED, // 0x01
+    STATE_SOFT_ASCENT, // 0x02
+    STATE_ASCENT, // 0x03 Don't use the ascent state if you are already using powered ascent and coast ascent
+    STATE_POWERED_ASCENT, // 0x04
+    STATE_COAST_ASCENT, // 0x05
+    STATE_DESCENT, // 0x06
+    STATE_DROGUE_DEPLOYED, // 0x07
+    STATE_MAIN_DEPLOYED, // 0x08
+    STATE_LANDED, // 0x09
 };
 
 #endif

src/state_estimation/StateMachine.cpp

@@ -46,7 +46,9 @@ int StateMachine::update(const AccelerationTriplet& accel, const DataPoint& alt)
                 // Put the data saver into post-launch mode
                 dataSaver->launchDetected(fastLaunchDetector->getLaunchedTime());
             }
-            else if (launchDetector->isLaunched()) {
+
+            // The FLD should always trigger before the LP, but we check for LP launch just in case
+            if (launchDetector->isLaunched()) {
                 // Change state to ascent
                 state = STATE_ASCENT;