Bender Robotics
posilani dat
Dependencies: FatFileSystemCpp mbed PowerControl USBHostLite
Revision 26:5674b8978551, committed 2017-05-23
- Comitter:
- PavelKumpan
- Date:
- Tue May 23 18:42:14 2017 +0000
- Parent:
- 25:2f964ebcdfd8
- Commit message:
- Recreated communication protocol.
Changed in this revision
--- a/main.cpp Mon Mar 13 15:58:42 2017 +0000
+++ b/main.cpp Tue May 23 18:42:14 2017 +0000
@@ -70,6 +70,9 @@
* - Removed clearRoot() call from init.
* - Change representation of the records file to binary.
* - Add Prepare command - first send prepare, wait for a file open and then send Start.
+ *
+ * CHANGELOG 20/05/2017
+ * - Changed communication protocol - each message have header with its size.
*/
// Includes ====================================================================
@@ -175,7 +178,7 @@
void startSaving(void);
void stopSaving(void);
void transfer(void);
-void sendLog(void);
+void sendFile(char* name);
void halt(void);
void beginScope(void);
void sendStatus(void);
@@ -273,6 +276,11 @@
short int gyro_y[SIZE];
short int gyro_z[SIZE];
+/* Command buffers */
+char cmd_header[FRAME_HEADER_LEN];
+char cmd_data[256];
+int cmd_len;
+
// Functions -> File handling ==================================================
/* Clear all files in root directory */
@@ -295,9 +303,13 @@
remove(buf); // Remove file that is currently being pointed to
}
}
-
+
/* If file is not present */
closedir(dir); // Close dir & return false
+
+ FILE *records;
+ records = fopen(RECORDS_FILE, "w"); // Create new file for records
+ fclose(records);
}
/* Append line to log file */
@@ -330,7 +342,7 @@
recordbuffer[i+1] = timestamp[i];
}
- fwrite(recordbuffer, 1, 9, records); // Write 32 buffer lines (16 bytes) to file (512 bytes total -> one block)
+ fwrite(recordbuffer, 1, 9, records); // Write 9 bytes of record
fflush(records);
fclose(records); // Close file
}
@@ -339,18 +351,21 @@
void readSwimmerID(void)
{
size_t fileSize;
-
+ FILE *records;
+
if(false == doesFileExist(RECORDS_FILE))
{
swimmer_id = 0;
printf("File with records does not exists, so ID set to 0...\r\n");
+ swimmer_id = 0;
+ printf("New records file created...\r\n");
+ records = fopen(RECORDS_FILE, "a");
}
else
{
printf("Reading last swimmer ID from records file...\r\n");
/* Append line to records file */
- FILE *records;
records = fopen(RECORDS_FILE, "r"); // Open file with records name
fseek(records, 0L, SEEK_END);
@@ -366,9 +381,10 @@
fseek(records, -9, SEEK_END);
swimmer_id = (uint8_t)fgetc(records) + 1;
}
- fclose(records);
- printf("Actual index is %d...\r\n", swimmer_id);
- }
+ }
+
+ printf("Actual index is %d...\r\n", swimmer_id);
+ fclose(records);
}
/* Sees whether giver file exists on flash disk */
@@ -637,13 +653,11 @@
/* Prepares all to acquire data from sensors */
void prepareSaving(void)
{
- for (int i = 0; i < 8; i++)
+ for(int i = 0; i < 8; i++)
{
- timestamp[i] = wifi.readByte(); // Get bytes containing timestamp for the current record
+ timestamp[i] = cmd_data[i];
}
- wifi.sendAck();
-
savingFlag = 1; // Set saving flag
/* Open global file with current swimmer ID */
gfp = fopen(fname, "wb"); // Try to open that file
@@ -723,98 +737,14 @@
char name[30]; // File name buffer
/* File transfer prerequisites */
- fclose(gfp);
- int requested_id = wifi.readByte(); // Get byte containing requested file ID
- sprintf(name, "/usb/swimmer%d.txt", requested_id); // Create file name based on current swimmer ID
-
- /* Handle transfer */
- if(doesFileExist(name)) // At first check whether file exists (fopen used to freeze mbed)
- {
- /* Send ACK */
- 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 data (ID:%d)\r\n", requested_id); // Notify user via text also
- }
- else
- {
- printf("Swimmer %d finished\r\n", requested_id); // Otherwise all is AOK
- }
+ printf("closing");
+ if (gfp != NULL) {
+ fclose(gfp);
}
- else
- {
- /* In case file doest not exist send NACK */
- wifi.sendByte('#');
- wifi.sendByte('F');
- printf("Requested non-existing file...\r\n");
- }
-}
-
-/* Sends log file*/
-void sendLog(void)
-{
- /* Vars */
- char name[30]; // File name buffer
-
- /* File transfer prerequisites */
- sprintf(name, LOG_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 log file\r\n"); // Notify user via text also
- }
- else
- {
- printf("Log 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");
- }
-}
-
-/* Sends records file*/
-void sendRecords(void)
-{
- /* Handle transfer */
- if(doesFileExist(RECORDS_FILE)) // At first check whether file exists (fopen used to freeze mbed)
- {
- 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", RECORDS_FILE); // Notify user which user is being sent
- if (wifi.sendFile(RECORDS_FILE)) // 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");
- }
+ printf(" file %d", cmd_data[0]);
+ sprintf(name, "/usb/swimmer%d.txt", cmd_data[0]); // Create file name based on current swimmer ID
+ printf(name);
+ sendFile(name);
}
/* Halts board */
@@ -844,15 +774,50 @@
// Functions -> Generic functions ==============================================
+/* Sends acquired data via Wi-Fi */
+void sendFile(char* name)
+{
+ /* Handle transfer */
+ if(doesFileExist(name)) // At first check whether file exists (fopen used to freeze mbed)
+ { // 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) != 0) // Send !
+ {
+ leds_error(); // Handle error
+ wifi.sendFail();
+ printf("Unable to send file.\r\n"); // Notify user via text also
+ }
+ else
+ {
+ printf("File transfer finished.\r\n"); // Otherwise all is AOK
+ }
+ }
+ else
+ {
+ /* In case file doest not exist send NACK */
+ wifi.sendNack();
+ printf("Requested non-existing file.\r\n");
+ }
+}
+
/* Sends status */
void sendStatus(void)
{
uint8_t checksum = SOH + savingFlag + battLevel + swimmer_id; // Calculate checksum
+ wifi.sendByte('#'); // #
+ wifi.sendByte('A'); // A
+ wifi.sendByte(5); // Send count of the data
+ wifi.sendByte(0);
+ wifi.sendByte(0);
+ wifi.sendByte(0);
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
+
+ wifi.waitForAck();
}
void blink(void)
@@ -873,19 +838,25 @@
{
/* Begin by initialization */
boardInit(); // Initialize board
-
+
/* Set zeroth swimmer name */
sprintf(fname, "/usb/swimmer%d.txt", swimmer_id); // Prepare zeroth swimmer filename
-
+
/* Main while */
while (1)
{
/* Shutdown handler */
shutdownHandler();
/* Read command from wifly */
- char cmd = wifi.getCmd();
+ cmd_len = wifi.getCmd(cmd_header, cmd_data);
+
+ if(cmd_header[1] != 'N')
+ {
+ printf(">> #%c and %d bytes\r\n", cmd_header[1], cmd_len);
+ }
+
/* Master switch */
- switch (cmd) {
+ switch (cmd_header[1]) {
/* start measuring data periodically and save them info file */
case PREPARE_SAVING:
{
@@ -910,9 +881,9 @@
/* stop saving data */
case SAVING_STOP:
{
- wifi.sendAck();
leds_off(); // Turn off all leds
stopSaving(); // Actually stop saving
+ wifi.sendAck();
printf("Stopped...\r\n"); // Notify user
break; // Break from switch
}
@@ -920,7 +891,6 @@
/* Send all data */
case TRANSFER_REQUEST:
{
- wifi.sendAck();
leds_off(); // Turn off all leds
led_sending = 1; // Turn on led_sending
printf("Sending data...\r\n"); // Notify user that data is being sent
@@ -949,7 +919,7 @@
leds_off(); // Turn off all leds
led_measuring = led_saving = 1; // Turn on two leds to depict special behaviour
printf("Sending log...\r\n"); // Notify user that new scope is beginning
- sendLog(); // Send log file
+ sendFile(LOG_FILE); // Send log file
leds_off(); // Turn off all leds
break; // Break
}
@@ -957,11 +927,10 @@
/* Send records file */
case SEND_RECORDS:
{
- wifi.sendAck();
leds_off(); // Turn off all leds
led_measuring = led_saving = 1; // Turn on two leds to depict special behaviour
printf("Sending records...\r\n"); // Notify user that new scope is beginning
- sendRecords(); // Send records file
+ sendFile(RECORDS_FILE); // Send records file
leds_off(); // Turn off all leds
break; // Break
}
@@ -980,7 +949,7 @@
/* Ready */
case CHECK_READY:
{
- wifi.sendAck();
+ printf("Sending status...\r\n"); //
leds_off(); // Turn off all leds
sendStatus(); // Sends status message
break; // Break
@@ -998,12 +967,24 @@
break; // Break from switch
}
+ /* Fail (should be handled in some inner function */
+ case 'F':
+ {
+ break; // Break from switch
+ }
+
+ /* Nothing on serial */
+ case 'A':
+ {
+ break; // Break from switch
+ }
+
/* Everything else is ballast */
default :
{
wifi.sendNack();
leds_error(); // Turn on all leds
- printf("Command %c is unknown!\r\n", cmd); // Notify user
+ printf("Command %c is unknown!\r\n", cmd_header[1]); // Notify user
break; // Break from switch
}
}
--- a/wifi.cpp Mon Mar 13 15:58:42 2017 +0000
+++ b/wifi.cpp Tue May 23 18:42:14 2017 +0000
@@ -3,7 +3,6 @@
#define BAUDR 460800
//#define BAUDR 1100000
-#define SEND_SIZE 1024
Wifi::Wifi (PinName tx, PinName rx, PinName cts, PinName reset):
wifi_(tx, rx) {
@@ -26,7 +25,6 @@
* many times (int) count 3*(short) acc 3*(float)gyro
* (int) -1 (int) -1 up to 1023 zeros
*/
-//int Wifi::sendFile(const char *fname, int swimmer_id)
int Wifi::sendFile(const char *fname)
{
char c;
@@ -37,6 +35,26 @@
printf("Unable to open %s\r\n", fname);
return -1;
}
+
+ fseek(file, 0, SEEK_END); // seek to end of file
+ int size = ftell(file); // get current file pointer
+ fseek(file, 0, SEEK_SET); // seek back to beginning of file
+
+ wifi_.putc('#'); // send ACK
+ wifi_.putc('A');
+ for(int i = 0; i < FRAME_HEADER_LEN - 2; i++) // send num of bytes in the message
+ {
+ wifi_.putc((char)((size >> (i * 8)) & 0xFF));
+ }
+
+ printf("Ack sended...\r\n");
+ printf("Transfer of %d bytes initialized...\r\n", size);
+
+ if(size == 0) // when nothing to send, terminated here
+ {
+ return 0;
+ }
+
in_buf = 0;
while (fread(&c, sizeof(char), 1, file) != 0) {
if ((last = bufferSendVerify(c)) == -1) {
@@ -44,57 +62,65 @@
return -1;
}
}
-
- //fill the last data to SEND_SIZE with zeros
- if (last == 1) {
- while (bufferSendVerify(0x00) != 0)
- ;
+ fclose(file);
+
+ if (bufferFlush() == -1) {
+ return -1;
}
- fclose(file);
return 0;
}
/*
- * Returns 'N' if no command was recieved
- * or the command
+ * Returns length of command data received, load the command into the cmd array and the data into the data array.
*/
-char Wifi::getCmd(void)
+int Wifi::getCmd(char* cmd, char* data)
{
+ short dataLength = 0u;
+ cmd[0] = '#';
+ cmd[1] = 'N';
+
+ /* Read the command */
if (wifi_.readable() && wifi_.getc() == '#')
{
+ for(int i = 1; i < FRAME_HEADER_LEN; i++)
+ {
+ wait_ms(20);
+ if (wifi_.readable())
+ {
+ cmd[i] = wifi_.getc();
+ }
+ else
+ {
+ cmd[1] = 'N';
+ }
+ }
+ }
+
+ /* Read count of data */
+ if(cmd[1] == 'N')
+ {
+ return 0;
+ }
+
+ for(int i = 0; i < FRAME_HEADER_LEN - 2; i++)
+ {
+ dataLength += (int)cmd[i+2] << (i * 8);
+ }
+
+ /* Read data */
+ for(int i = 0; i < dataLength; i++)
+ {
wait_ms(20);
if (wifi_.readable())
{
- return wifi_.getc();
+ data[i] = wifi_.getc();
}
- else
- {
- return 'N';
- }
}
- else
- {
- return 'N';
- }
+
+ return dataLength;
}
-//char Wifi::getCmd(void)
-//{
-// // Needs to be done properly
-// //if (wifi_.readable() || wifi_.getc() == '#');
-// if (wifi_.readable() && wifi_.getc() == '#')
-// {
-// wifi_.putc('#');
-// wifi_.putc('A');
-// return wifi_.getc();
-// }
-// else
-// {
-// return 'N';
-// }
-//d}
-
/*
* Sends given byte to wifly
*/
@@ -135,6 +161,10 @@
{
wifi_.putc('#');
wifi_.putc('A');
+ for(int i = 0; i < FRAME_HEADER_LEN - 2; i++)
+ {
+ wifi_.putc(0x0);
+ }
}
/*
@@ -144,12 +174,58 @@
{
wifi_.putc('#');
wifi_.putc('N');
+ for(int i = 0; i < FRAME_HEADER_LEN - 2; i++)
+ {
+ wifi_.putc(0x0);
+ }
+}
+
+/*
+ * Sends NACK to wiflys UART
+ */
+void Wifi::sendFail(void)
+{
+ wifi_.putc('#');
+ wifi_.putc('F');
+ for(int i = 0; i < FRAME_HEADER_LEN - 2; i++)
+ {
+ wifi_.putc(0x0);
+ }
+}
+
+int Wifi::waitForAck()
+{
+ char cmd[FRAME_HEADER_LEN];
+ char data[256];
+
+ for (int i=0; i<64; i++)
+ {
+ getCmd(cmd, data);
+
+ if ('A' == cmd[1])
+ {
+ return 1;
+ }
+ else if ('F' == cmd[1])
+ {
+ return 0;
+ }
+ else
+ {
+ wait_ms(5);
+ }
+ }
+ return -1;
+
+ //if (wifi_.getc() == 'A')
+ // break;
}
/* ********************************
* private
* *******************************/
-void Wifi::bufferSend(char *buffer, size_t size)
+
+void Wifi::bufferSend(size_t size)
{
int i;
for (i = 0; i < size; i++) {
@@ -157,50 +233,91 @@
}
}
+int Wifi::bufferFlush()
+{
+ LPC_WDT->WDFEED = 0xAA;
+ LPC_WDT->WDFEED = 0x55;
+ int counter = 0;
+ int result = 0;
+
+ if (in_buf == 0)
+ {
+ return 1;
+ }
+
+ while (counter++ < 10)
+ {
+ bufferSend(in_buf);
+ result = waitForAck();
+
+ if(result == 1)
+ {
+ /* Ack - break, no need to send it again */
+ break;
+ }
+ else if (result == -1)
+ {
+ /* Fail - transmition faild, terminate sending */
+ return -1;
+ }
+ else
+ {
+ /* Nack - send it again*/
+ }
+ }
+
+ if (counter >= 10)
+ {
+ return -1;
+ }
+ else
+ {
+ return 0;
+ }
+}
+
int Wifi::bufferSendVerify(char c)
{
LPC_WDT->WDFEED = 0xAA;
LPC_WDT->WDFEED = 0x55;
- static char buffer[SEND_SIZE];
int counter = 0;
-
+ int result = 0;
buffer[in_buf] = c;
in_buf++;
if (in_buf != SEND_SIZE)
+ {
return 1;
+ }
in_buf = 0;
- while (counter++ < 10) {
- bufferSend(buffer, SEND_SIZE);
- //while (!wifi_.readable());
- for (int i=0; i<50; i++)
+ while (counter++ < 16)
+ {
+ bufferSend(SEND_SIZE);
+ result = waitForAck();
+
+ if(result == 1)
+ {
+ /* Ack - break, no need to send it again */
+ break;
+ }
+ else if (result == -1)
{
- if (wifi_.readable())
- {
- char buf = wifi_.getc();
- if ('A' == buf)
- {
- return 0;
- }
- else if ('F' == buf)
- {
- break;
- }
- else
- {
- return -1;
- }
- }
- else
- {
- wait_ms(5);
- }
+ /* Fail - transmition faild, terminate sending */
+ return -1;
+ }
+ else
+ {
+ /* Nack - send it again*/
}
- //if (wifi_.getc() == 'A')
- // break;
}
+
if (counter >= 10)
+ {
return -1;
- return 0;
+ }
+ else
+ {
+ return 0;
+ }
}
\ No newline at end of file
--- a/wifi.h Mon Mar 13 15:58:42 2017 +0000
+++ b/wifi.h Tue May 23 18:42:14 2017 +0000
@@ -9,6 +9,8 @@
#include "mbed.h"
//#include "WiflyInterface.h"
+#define FRAME_HEADER_LEN 6
+#define SEND_SIZE 1024
class Wifi {
public:
@@ -20,7 +22,7 @@
/*
* Returns received command (without #), just the one char
*/
- char getCmd(void);
+ int getCmd(char* cmd_header, char* cmd_data);
/*
* Sends one char to wifly
@@ -42,12 +44,16 @@
bool readable(void);
void sendAck(void);
void sendNack(void);
+ void sendFail(void);
+ int waitForAck(void);
private:
Serial wifi_;
int in_buf;
- void bufferSend(char *buffer, size_t size);
- int bufferSendVerify(char buffer);
+ char buffer[SEND_SIZE];
+ void bufferSend(size_t size);
+ int bufferSendVerify(char byte);
+ int bufferFlush(void);
};
#endif
\ No newline at end of file