feat(docs): Add procedure for preparing DACS control station

from SharePoint

src/dacs-sw/control-station-preparation/sections/notes.tex

@@ -5,6 +5,74 @@
   \hline
 
   \noteItem{
-    \textbf{REPLACE ME}
+    \textbf{Do not under any circumstances upgrade the Ubuntu version to a newer release} even if prompted!
+    The ROS version we use is not compatible with all Ubuntu versions.
+  }
+
+  \noteItem{
+    The \textbf{abort key for the UI is 'Esc'}.
+    This will immediately trigger the abort sequence corresponding to the current phase.
+  }
+
+  \noteItem{
+    To \textbf{stop a process} in the terminal: CTRL-C
+  \\
+    To \textbf{save a file}: CTRL-S
+  }
+
+  \noteItem{
+    Important files that might have to be changed:
+    \begin{itemize}
+      \item \textbf{/home/dacs/git/configuration-tests/PRO\_DACS-Configuration.xlsx}
+            \\
+            here you can change controllable actuators per phase and sensor abort thresholds, afterwards do catkin build again
+
+      \item \textbf{/home/dacs/git/user-interface/rosWebPage/ui/configure\_ui.py}
+            \\
+            here you can change anything related to the UI, in particular which config file is used (this is quite unreadable code so use CTRL-F to find things)
+            To apply changes run:
+            Cd /home/dacs/git/user-interface/rosWebPage/ui/
+            python3 configure\_ui.py
+
+      \item \textbf{/home/dacs/git/software-rpi4/state\_machine/src/:}
+            \\
+            In this folder you find the state machine list (list of phases) and sequences (watch out for the syntax if you change anything here)
+            Check which file is used in state\_machine.cpp
+            afterwards do catkin build again
+
+      \item \textbf{/home/dacs/git/software-rpi4/data\_acquisition/src/core/T7\_streaming.py}
+            \\
+            here you can change the streaming rate in case you get a Labjack buffer error or anything of that kind
+
+      \item \textbf{/home/dacs/git/software-rpi4/data\_acquisition/launch/test.launch}
+            \\
+            here you can change which ROS modules are started at roslaunch, might be useful to delete the throttling module if it gives any errors for example
+
+      \item \textbf{/home/dacs/git/software-rpi4/throttling\_control/src}
+            \\
+            In the setpoint.py, control.py and the core folder you can change the setting for the setpoints and the controller parameters.
+
+    \end{itemize}
+  }
+
+  \noteItem{
+    To see \textbf{error messages regarding the UI} in Google Chrome click on the three dots '…' in the upper right corner, then 'More Tools' and 'Developer Tools'.
+    Now you can see a few messages that might help find problems in the Configuration file for example
+  }
+
+  \noteItem{
+    To \textbf{monitor ROS messages} run in terminal:
+  \\
+    cd catkin\_ws
+  \\
+    source ./devel/setup.bash
+  \\
+    then some useful commands are:
+    \begin{itemize}
+      \item \texttt{rostopic list} (to see a list of topics)
+      \item \texttt{rostopic echo /'topicname'} (the name of the actuator topics are: 'actuator\_\#actuatorid' and of sensor topics: 'sensor\_\#sensorid'
+      \item \texttt{rostopic pub /throttling\_enabled dacs\_test/Control '{state: False}'}  (to publish)
+      \item \texttt{rostopic hz /'topicname'} (to get frequency)
+    \end{itemize}
   }
 \end{tabularx}

src/dacs-sw/control-station-preparation/sections/operation-description.tex

@@ -1,2 +1,3 @@
 % Operation description
-\textbf{REPLACE ME}
+Test the Mission Control Station with manual override box, UI, live graphing tools, and make sure necessary documents are updated.
+This procedure is for using the system without the RaspberryPi.

src/dacs-sw/control-station-preparation/sections/preparation.tex

@@ -5,9 +5,195 @@
 \begin{tabularx}{\textwidth}{|>{\columncolor{tableColumnColor}}c|>{\columncolor{tableColumnColor}}c|>{\columncolor{tableColumnColor}}c|>{\columncolor{tableColumnColor}}c|X|}
   \hline
   \rowcolor{tableHeaderColor}
-  ID & CK 1 & CK 2 & CK 3 & Description \\ \hline
+  ID                    & CK 1      & CK 2      & CK 3      & Description \\ \hline
+
+  \arabic{tableCounter} & \checkbox & \checkbox & \checkbox &
+  \begin{minipage}[t]{\linewidth}
+    \textbf{Software Preparation}
+    \vspace{1mm} % Just slightly add vspace to prevent clipping into table border
+  \end{minipage}
+  \\ \hline
+
+  \procedureItem{
+    \hl{
+      Install System according to
+    }
+  \\
+    \hl{
+      PRO\_OP\_DACS\_004\_Installation-Control\_01
+    }
+  \\
+    \hl{
+      Do not launch yet (do not run start\_maria\_test)
+    }
+  }
+
+  \procedureItem{
+
+    \hl{Check config files (08\_DACS\textbackslash01\_Software\textbackslash07\_Configuration, especially}
+
+    \begin{itemize}
+      \item \hl{Update firing parameter specification}
+      \item \hl{Choose sequence and update activation times}
+      \item \hl{Update sensor thresholds}
+    \end{itemize}
+
+  }
+
+  \procedureItem{
+    Make sure the following files are downloaded from Sharepoint (08\_DACS\textbackslash01\_Software\textbackslash07\_Configuration) and saved to:
+    \begin{itemize}
+      \item /home/dacs/git/configuration\_tests/
+            \\
+            PRO\_DACS\_Configuration
+      \item /home/dacs/git/software-rpi4/state\_machine/src/
+            \\
+            state\_machine\_list.csv
+
+      \item /home/dacs/git/software-rpi4/state\_machine/src/
+            \\
+            state\_machine\_sequences.csv
+
+      \item /home/dacs/git/software-rpi4/throttling\_control/src/
+            \\
+            setpoint\_publisher.py
+
+      \item /home/dacs/git/software-rpi4/throttling\_control/src/
+            \\
+            control.py
+    \end{itemize}
+  }
+
+  \stepcounter{tableCounter}
+  \setcounter{rowCounter}{0} % Reset counter
+
+  \arabic{tableCounter} & \checkbox & \checkbox & \checkbox &
+  \begin{minipage}[t]{\linewidth}
+    \textbf{Launch System}
+    \vspace{1mm} % Just slightly add vspace to prevent clipping into table border
+  \end{minipage}
+  \\ \hline
+
+  \procedureItem{
+    \hl{Launch System according to}
+  \\
+    \hl{PRO\_OP\_DACS\_004\_Installation-Control\_01}
+  }
+
+  \stepcounter{tableCounter}
+  \setcounter{rowCounter}{0} % Reset counter
+
+  \arabic{tableCounter} & \checkbox & \checkbox & \checkbox &
+  \begin{minipage}[t]{\linewidth}
+    \textbf{Test System}
+    \vspace{1mm} % Just slightly add vspace to prevent clipping into table border
+  \end{minipage}
+  \\ \hline
+
+  \procedureItem{
+    \hl{
+      In the UI test the sequence of phases by going through them and check if the right actuators are controllable.
+      Trigger the sequences in Ignition and Firing phase (if control valves positions are changed during firing also check that the setpoint curve is right).
+      After that check the abort sequences by pressing ‘Ctrl-Space’ once in Fuel Filling, Oxidizer Filling and Firing
+    }
+  }
+
+  \procedureItem{
+    \hl{
+      Check the abort sequences by pressing ‘Ctrl-Space’ once in Fuel Filling, Oxidizer Filling and Firing
+    }
+  }
+  \procedureItem{
+    \hl{
+      With another person observing the valves or the Relay lights in the DACS compartment, check that immediately after toggling the switch in the UI the actuator is activated
+    }
+  }
+
+  \procedureItem{
+    \hl{
+      Check the functionaltity of the manual override box the status lights on the trailer by switching through all circuits
+    }
+  }
+
+  \procedureItem{
+    Check that plotjuggler plots keep up with the sensor values (let it run for 3-5 minutes)
+  }
+
+  \procedureItem{
+    Check that the UI keeps up with the sensor values:
+    \begin{itemize}
+      \item \texttt{cd catkin\_ws}
+      \item \texttt{source ./devel/setup.bash}
+      \item \texttt{rostopic echo /sensor\_prg\_p}
+    \end{itemize}
+
+
+    Compare whether rostopic echo measurement values change simultaneously with UI, also the cursor should not lag in the UI
+
+    In case of system delays:
+  \\
+    \texttt{/home/dacs/git/software-rpi4/data\_acquisition/src/core/T7(\_streaming).py}
+  \\
+    and in
+    \texttt{translate\_data\_2\_ros} change \texttt{j = j \% 40} to a higher number and restart
+  }
+
+  \procedureItem{
+    Ensure that the rosbags are being saved in catkin\_ws/src/rosbags
+
+    However, after checking delete them again
+  }
+
+  \procedureItem{
+    Press Ctrl-C in all running Terminal windows, make sure all changes are saved, then close all windows and shut down PCs
+  }
+
+
+  \stepcounter{tableCounter}
+  \setcounter{rowCounter}{0} % Reset counter
+
+  \arabic{tableCounter} & \checkbox & \checkbox & \checkbox &
+  \begin{minipage}[t]{\linewidth}
+    \textbf{Packing}
+    \vspace{1mm} % Just slightly add vspace to prevent clipping into table border
+  \end{minipage}
+  \\ \hline
+
+  \procedureItem{
+    Assemble the hardware as mentioned in sections B and C
+  }
+
+  \procedureItem{
+    \hl{
+      Place the three monitors with foil to protect the displays in the two big DACS boxes
+    }
+  }
+
+  \procedureItem{
+    \hl{
+      Put PC power cables, power strips, DP cables, mouses, keyboards and manual override box in the same boxes
+    }
+  \\
+    \includegraphics[width=0.5\textwidth]{assets/monitors-in-box.png}
+  }
+
+  \procedureItem{
+    DACS Box 1 with Monitor 1 \& 2, corresponding keyboard and mouse, 3 DP cables, and 3 monitor power cables
+  \\
+    \includegraphics[width=0.5\textwidth]{assets/other-monitor-in-box.png}
+  \\
+    DACS Box 2 with Surveillance/KiDAQ Monitor, corresponding keyboard and mouse 2 PC power adapters, manual override box, 2 power strips, extension cable
+  }
 
   \procedureItem{
-    REPLACE ME
+    \hl{
+      Put the two PCs in the smaller DACS box together with the Ethernet switch, Ethernet cables and Switch‘s power cable
+    }
+  \\
+    \includegraphics[width=0.5\textwidth]{assets/smaller-dacs-box.png}
+  \\
+    \hl{
+      Smaller DACS box with 2 PCs, Ethernet Switch, Ethernet Switch power cable, 2 short Ethernet cables, replacment Etheret cable
+    }
   }
 \end{tabularx}

src/dacs-sw/control-station-preparation/sections/required-tools.tex

@@ -4,5 +4,18 @@
   \hline
   \rowcolor{tableHeaderColor}
   Check & Amount & Description \\ \hline
-  \checklistItem{X}{Replace Me}
+  \checklistItem{1}{Mission Control PC}
+  \checklistItem{1}{Windows PC with KiStudio Lab preinstalled (KiDAQ PC)}
+  \checklistItem{3}{Monitor}
+  \checklistItem{2}{Keyboard}
+  \checklistItem{2}{Mouse}
+  \checklistItem{2}{Wifi Adapter}
+  \checklistItem{2}{Power Adapter for PC}
+  \checklistItem{1}{Manual Override Box}
+  \checklistItem{2}{Power Strip}
+  \checklistItem{3}{DP Cable}
+  \checklistItem{1}{Phone with Hotspot \& Charger}
+  \checklistItem{1}{Ethernet cable on cable roll (connected to testbench)}
+  \checklistItem{1}{PRO Ethernet Switch with power cable}
+  \checklistItem{2}{Short Ethernet cable}
 \end{tabularx}