Bender Robotics
posilani dat
Dependencies: FatFileSystemCpp mbed PowerControl USBHostLite
Diff: main.cpp
- Revision:
- 21:d1569911500a
- Parent:
- 20:66ecb2f0e307
- Child:
- 22:69621e10dd26
diff -r 66ecb2f0e307 -r d1569911500a main.cpp
--- a/main.cpp Tue Mar 07 13:30:34 2017 +0000
+++ b/main.cpp Fri Mar 10 15:05:40 2017 +0000
@@ -61,6 +61,10 @@
* - Added define switch for new revision of hardware
* - HW v1r2 only supports single MPU
*
+* CHANGELOG 10/03/2017
+ * - Added swimmer index to the status message.
+ * - Added record file for records, function appendRecord, sendRecords
+ * - Added clear root command
*/
// Includes ====================================================================
@@ -80,7 +84,7 @@
// Revision ====================================================================
// Revision define, it's important to select proper version! (pinmuxes differ)
-#define REVISION 2
+#define REVISION 1
// Defines =====================================================================
@@ -103,16 +107,19 @@
/* Mass storage realted stuff */
#define FSNAME "usb"
#define LOG_FILE "/usb/log.txt"
+#define RECORDS_FILE "/usb/records.txt"
#define SPACE_LOW_THRESHOLD 100 // USB Flash disk free threshold
#define SPACE_PERIOD 300U // How often to measure free space in seconds
/* Commands swimfly understands */
#define SAVING_START 'S'
#define SAVING_STOP 'E'
+#define CLEAR_ROOT 'C'
#define TRANSFER_REQUEST 'T'
#define SCOPE_BEGIN 'B'
#define CHECK_READY 'R'
#define SEND_LOG 'L'
+#define SEND_RECORDS 'D'
#define HALT 'H'
/* Comm stuff */
@@ -137,6 +144,7 @@
/* File handling */
void clearRoot(void);
void appendLog(char textToAppend[]);
+void appendRecord(char recordName[], char timestamp[]);
bool doesFileExist(const char *filename);
void spaceMeas(void);
@@ -239,6 +247,7 @@
FILE *gfp; // Global file pointer
MSCFileSystem logger(FSNAME); // Initialize USB flash disk
char fname[40]; // Variable for name of Text file saved on USB flash disk
+char timestamp[22]; // Variable for name of Text file saved on USB flash disk
static volatile uint64_t absolute = 0; // Variable for numbering saved data
volatile int relative = 0; // Relative packtets saved number
volatile short swimmer_id = 0; // Global swimmer ID
@@ -296,6 +305,19 @@
fclose(log); // Close file
}
+/* Append record to records file */
+void appendRecord(char recordName[], char timestamp[])
+{
+ printf("Writing to record file...\r\n");
+
+ /* Append line to log file */
+ FILE *records;
+ records = fopen(RECORDS_FILE, "a"); // Open file with records name
+ fprintf(records, "%s: ", recordName); // Append file name
+ fprintf(records, "%s\r\n", timestamp); // Append record time stamp
+ fclose(records); // Close file
+}
+
/* Sees whether giver file exists on flash disk */
bool doesFileExist(const char *filename)
{
@@ -561,6 +583,12 @@
/* Starts to acquire data from sensors */
void startSaving(void)
{
+ for(int i = 0; i < 22; i++) {
+ timestamp[i] = wifi.readByte(); // Get bytes containing timestamp for the current record
+ }
+
+ wifi.sendAck();
+
savingFlag = 1; // Set saving flag
/* Open global file with current swimmer ID */
gfp = fopen(fname, "wb"); // Try to open that file
@@ -620,7 +648,10 @@
fprintf(gfp, "%c%c", -1,-1); // Write EOF characters
fflush(gfp);
fclose(gfp); // Close file
-
+
+ /* Append this file to the records file */
+ appendRecord(fname, timestamp);
+
/* Prepare for next swimmer */
swimmer_id++; // Increment swimmer ID
sprintf(fname, "/usb/swimmer%d.txt", swimmer_id); // Update current file name
@@ -700,6 +731,41 @@
}
}
+/* Sends records file*/
+void sendRecords(void)
+{
+ /* Vars */
+ char name[30]; // File name buffer
+
+ /* File transfer prerequisites */
+ sprintf(name, RECORDS_FILE); // Create file name from log name
+ /* Handle transfer */
+ if(doesFileExist(name)) // At first check whether file exists (fopen used to freeze mbed)
+ {
+ /* Send ACK (should make this more abstract) */
+ wifi.sendAck();
+ wait_ms(50); // Timeout is used to make sure C# gets ready (sockets are messy, flushing is pain)
+ /* Actually try to send file */
+ printf("Sending %s\r\n", name); // Notify user which user is being sent
+ if (wifi.sendFile(name)) // Send !
+ {
+ leds_error(); // Handle error
+ printf("Unable to send records file\r\n"); // Notify user via text also
+ }
+ else
+ {
+ printf("Records file sent!\r\n"); // Otherwise all is AOK
+ }
+ }
+ else
+ {
+ /* In case file doest not exist send NACK */
+ wifi.sendByte('#');
+ wifi.sendByte('F');
+ printf("Requested non-existing file...\r\n");
+ }
+}
+
/* Halts board */
void halt(void)
{
@@ -730,10 +796,11 @@
/* Sends status */
void sendStatus(void)
{
- uint8_t checksum = SOH + savingFlag + battLevel; // Calculate checksum
+ uint8_t checksum = SOH + savingFlag + battLevel + swimmer_id; // Calculate checksum
wifi.sendByte(SOH); // Send start of heading
wifi.sendByte(savingFlag); // Send state of saving
wifi.sendByte(battLevel); // Sends current battery level
+ wifi.sendByte(swimmer_id); // Sends current swimmer id index
wifi.sendByte(checksum); // Send checksum
}
@@ -826,6 +893,17 @@
break; // Break
}
+ /* Send records file */
+ case SEND_RECORDS:
+ {
+ leds_off(); // Turn off all leds
+ led_measuring = led_saving = 1; // Turn on two leds to depict special behaviour
+ printf("Sending logrecords...\r\n"); // Notify user that new scope is beginning
+ sendRecords(); // Send records file
+ leds_off(); // Turn off all leds
+ break; // Break
+ }
+
/* Halt swimfly */
case HALT:
{