Merge pull request #22 from space-station-os/ssos_rep

[DEMO X] Space station OS representation (BASIC) and ARS V3

This will be used for SARJ and EPS as well as GNC.

Author: yuyuqq

CMakeLists.txt

@@ -12,13 +12,18 @@ find_package(sensor_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(actionlib_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
 set(msg_files
 
   "src/ars_systems/msg/AirData.msg"
+  "src/ars_systems/srv/CrewQuarters.srv"
+
+  
   "src/ors_systems/msg/Sabatier.msg"
   "src/ors_systems/msg/Water.msg"
   "src/ors_systems/msg/Electrolysis.msg"
@@ -31,13 +36,14 @@ set(msg_files
   "src/wrs_systems/srv/CleanWater.srv"
   "src/wrs_systems/msg/WaterCrew.msg"
 
-
+  # CDRA SAFETY
+  "src/ars_systems/msg/CdraStatus.msg"
 
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files} 
-  DEPENDENCIES  std_msgs sensor_msgs 
+  DEPENDENCIES  std_msgs sensor_msgs visualization_msgs
 )
 
 
@@ -122,6 +128,15 @@ rosidl_target_interfaces(ultrasound ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 
 
+# CDRA SAFETY
+
+add_executable(system_safety src/system_verification.cpp)
+ament_target_dependencies(system_safety std_srvs rosidl_default_generators rclcpp visualization_msgs)
+
+rosidl_target_interfaces(system_safety ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+
+
 install(TARGETS
   collector
   desiccant
@@ -138,6 +153,9 @@ install(TARGETS
   ionizaton
   clean_water_tank
   ultrasound
+
+
+  system_safety
 
   DESTINATION lib/${PROJECT_NAME})
 

SSOS_description

@@ -0,0 +1 @@
+Subproject commit d7913477b0435457cee358eb49392308f0b95c44

config/ars_sys.yaml

@@ -1,27 +1,42 @@
-/ars_system:
+air_collector_node:
   ros__parameters:
-    # Astronaut params
+    flow_rate: 28.0  # Flow rate in SCFM
+    co2_intake: 1.04 # CO2 intake in mmHg
     crew_onboard: 4
-    co2_intake: 1.04 #mmHG 
-    max_crew_limit: 6 
+    cabin_pressure: 14.7  # Cabin pressure in PSI
+    temperature_cutoff: 450.0  # Temperature cutoff in Celsius
+    max_crew_limit: 6
+    power_consumption: 1.0  # Power in kW
+    tank_capacity: 1000.0  # Air tank capacity in grams
+    system_name: "demo_nova_sanctum"
+    mode_of_operation: "standby"
+
 
+    co2_threshold: 500.0
+    moisture_threshold: 70.0
+    contaminants_threshold: 30.0
 
-    #ARSys params
-    system_name: "ARS"
-    frame_id: "ars"
-    mode_of_operation: "standby" #[standby,active,emergency]
-    adsorbent_type: "13X" #[13X,5A,APG_III,VSA-10]
-    co2_removal_rate: 4.50 #kg/day 
-    flow_rate: 28 #Standard cubic feet per minute 
-    temperature_cutoff: 450 #Celsius
-    cabin_pressure: 14.7 #PSI
+    
+    temp_kp: 0.1
+    temp_ki: 0.01
+    temp_kd: 0.005
+    press_kp: 0.1
+    press_ki: 0.01
+    press_kd: 0.005
 
 
-    #power_consumption
-    power_consumption: 1 #kW
+/desiccant_server:
+  ros__parameters:
+    moisture_removal_rate: 0.95
+    contaminant_removal_rate: 0.90
+    emergency_threshold: 5.0
 
-    #Removal efficiency
-    to_space : 0.50 
-    to_sabatier: 0.50
 
-    
+/adsorbent_bed:
+  ros__parameters:
+    co2_removal_efficiency: 0.95
+    co2_to_space_ratio: 0.40
+    desired_temperature: 420.0
+    temperature_tolerance: 30.0
+    kp: 0.6
+    kd: 0.15

config/ars_sys_params.yaml

@@ -0,0 +1,86 @@
+#ifndef DEMO_NOVA_SANCTUM_ADSORBENT_BED_HPP_
+#define DEMO_NOVA_SANCTUM_ADSORBENT_BED_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+#include <mutex>
+#include "demo_nova_sanctum/msg/air_data.hpp"
+#include "demo_nova_sanctum/srv/crew_quarters.hpp"
+#include "std_msgs/msg/float64.hpp"
+#include "demo_nova_sanctum/msg/cdra_status.hpp"
+
+/**
+ * @class AdsorbentBed
+ * @brief ROS 2 node to manage CO₂ adsorption, storage, and desorption.
+ * 
+ * - **Receives air from the Desiccant Bed** via `/adsorbent_server` service.
+ * - **Adsorbs and stores CO₂** in a buffer before desorption.
+ * - **Returns CO₂-free air to the Desiccant Bed** via `/processed_air_service`.
+ * - **Heats up to 400°F to desorb and vent CO₂** after processing.
+ * - **Publishes vented CO₂ to `/co2_vent`** topic.
+ */
+class AdsorbentBed : public rclcpp::Node {
+public:
+  /**
+   * @brief Constructor initializes the Adsorbent Bed service.
+   */
+  AdsorbentBed();
+
+private:
+  /**
+   * @brief Handles incoming air processing requests from the Desiccant Bed.
+   * - If already processing, it rejects new requests.
+   * - If available, it starts the CO₂ adsorption process.
+   */
+  void handle_air_processing_request(const std::shared_ptr<demo_nova_sanctum::srv::CrewQuarters::Request> request,
+                                     std::shared_ptr<demo_nova_sanctum::srv::CrewQuarters::Response> response);
+
+  /**
+   * @brief Adsorbs CO₂ while regulating temperature.
+   * - **Uses PID control** to maintain optimal adsorption temperature.
+   * - **Stores CO₂ in a buffer** instead of immediately venting.
+   */
+  void process_co2();
+
+  /**
+   * @brief Sends CO₂-free air back to the Desiccant Bed.
+   */
+  void send_processed_air();
+
+  /**
+   * @brief Begins CO₂ desorption cycle by heating up.
+   */
+  void start_desorption_cycle();
+
+  /**
+   * @brief Heats up to 400°F and vents CO₂.
+   */
+  void desorb_co2();
+
+  /*** CO₂ PROCESSING PARAMETERS ***/
+  double co2_removal_efficiency_; ///< Efficiency of CO₂ adsorption (default: 90%)
+  double co2_to_space_ratio_;     ///< Percentage of CO₂ sent to space (default: 50%)
+  double retained_co2_cumulative_; ///< Total CO₂ retained before desorption
+  double previous_error_; ///< Previous error for PID control
+  double co2_buffer_; ///< Buffer to store CO₂ before desorption
+
+  /*** AIR DATA VARIABLES ***/
+  double co2_;                ///< Current CO₂ mass
+  double moisture_content_;   ///< Current moisture content
+  double contaminants_;       ///< Current contaminant level
+  double temperature_;        ///< Current temperature
+
+  /*** ROS COMMUNICATION INTERFACES ***/
+  rclcpp::Service<demo_nova_sanctum::srv::CrewQuarters>::SharedPtr adsorbent_service_; ///< Receives air from Desiccant Bed
+  rclcpp::Client<demo_nova_sanctum::srv::CrewQuarters>::SharedPtr desiccant_client_; ///< Sends processed air back
+  rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr co2_publisher_; ///< Publishes vented CO₂ to `/co2_vent`
+  rclcpp::TimerBase::SharedPtr timer_; ///< Timer for periodic processing
+  rclcpp::Publisher<demo_nova_sanctum::msg::CdraStatus>::SharedPtr cdra_status_publisher_;
+  demo_nova_sanctum::msg::CdraStatus cdra;
+  /*** SYSTEM STATES ***/
+  bool is_active_; ///< Indicates if the adsorbent bed is currently processing air
+
+  /*** THREAD SAFETY ***/
+  std::mutex data_mutex_; ///< Ensures safe access to shared air data variables
+};
+
+#endif // DEMO_NOVA_SANCTUM_ADSORBENT_BED_HPP_