Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

MbedLogger/MbedLogger.cpp@82:0981b9ada820, 2019-02-15 (annotated)

Committer:
joel_ssc
Date:
Fri Feb 15 16:00:17 2019 +0000
Revision:
82:0981b9ada820
Parent:
80:4e5d306d695b
Child:
84:eccd8e837134
intermediate stage of file leg system

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 62:d502889e74f1 1 #include "MbedLogger.hpp"
tnhnrl 62:d502889e74f1 2 #include "StaticDefs.hpp"
joel_ssc 82:0981b9ada820 3 #include <stdarg.h>
tnhnrl 62:d502889e74f1 4
tnhnrl 62:d502889e74f1 5 //Timer t; //used to test time to create packet //timing debug
tnhnrl 62:d502889e74f1 6
tnhnrl 62:d502889e74f1 7 MbedLogger::MbedLogger(string file_system_input_string) {
joel_ssc 82:0981b9ada820 8 _file_system_string = file_system_input_string; // how to make the LOG000.csv a variable string?
tnhnrl 62:d502889e74f1 9 _full_file_path_string = _file_system_string + "LOG000.csv"; //use multiple logs in the future? (after file size is too large)
joel_ssc 82:0981b9ada820 10 _full_diagfile_path_string = _file_system_string + "DIAG000.txt";
tnhnrl 62:d502889e74f1 11 _file_number = 0;
tnhnrl 62:d502889e74f1 12 _file_transmission = true;
tnhnrl 62:d502889e74f1 13 _confirmed_packet_number = 0; //must set this to zero
tnhnrl 62:d502889e74f1 14 _transmit_counter = 0;
tnhnrl 62:d502889e74f1 15 _file_transmission_state = -1;
tnhnrl 62:d502889e74f1 16 _total_number_of_packets = 0;
tnhnrl 62:d502889e74f1 17 _mbed_transmit_loop = false;
tnhnrl 62:d502889e74f1 18 _received_filename = "";
tnhnrl 63:6cb0405fc6e6 19
tnhnrl 63:6cb0405fc6e6 20 _log_file_line_counter = 0; //used to set timer in finite state machine based on size of log
tnhnrl 67:c86a4b464682 21
tnhnrl 74:d281aaef9766 22 //heading string is 254 bytes long, FIXED LENGTH
tnhnrl 74:d281aaef9766 23 _heading_string = "StateStr,St#,TimeSec,DepthCmd,DepthFt,PitchCmd,PitchDeg,RudderPWM,RudderCmdDeg,HeadDeg,bceCmd,bce_mm,battCmd,batt_mm,PitchRateDegSec,depth_rate_fps,SystemAmps,SystemVolts,AltChRd,Int_PSI,BCE_p,i,d,BATT_p,i,d,DEPTH_p,i,d,fq,db,PITCH_p,i,d,HEAD_p,i,d,fq,db\n";
joel_ssc 82:0981b9ada820 24 _diag_heading_string = "Diagnostics file header \n";
tnhnrl 69:919ac8d7e023 25
tnhnrl 69:919ac8d7e023 26 _fsm_transmit_complete = false;
tnhnrl 73:f6f378311c8d 27
tnhnrl 73:f6f378311c8d 28 _end_transmit_packet = false;
tnhnrl 74:d281aaef9766 29
tnhnrl 74:d281aaef9766 30 _end_sequence_transmission = false;
tnhnrl 62:d502889e74f1 31 }
tnhnrl 62:d502889e74f1 32
tnhnrl 62:d502889e74f1 33 //this function has to be called for the time to function correctly
tnhnrl 62:d502889e74f1 34 void MbedLogger::setLogTime() {
tnhnrl 74:d281aaef9766 35 xbee().printf("\n%s log time set.\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 36 set_time(1518467832); // Set RTC time to Mon, 12 FEB 2018 15:37
tnhnrl 62:d502889e74f1 37 }
tnhnrl 62:d502889e74f1 38
tnhnrl 62:d502889e74f1 39 //in the future create the ability to set the start time
tnhnrl 62:d502889e74f1 40 int MbedLogger::getSystemTime() {
tnhnrl 62:d502889e74f1 41 time_t seconds = time(NULL); // Time as seconds since January 1, 1970
tnhnrl 62:d502889e74f1 42
tnhnrl 62:d502889e74f1 43 return seconds;
tnhnrl 62:d502889e74f1 44 }
tnhnrl 62:d502889e74f1 45
tnhnrl 62:d502889e74f1 46 void MbedLogger::recordData(int current_state) {
tnhnrl 74:d281aaef9766 47 int data_log_time = mbedLogger().getSystemTime(); //read the system timer to get unix timestamp
joel_ssc 82:0981b9ada820 48 int start_time = 1518467832;
tnhnrl 74:d281aaef9766 49 _data_log[0] = depthLoop().getCommand(); //depth command
tnhnrl 74:d281aaef9766 50 _data_log[1] = depthLoop().getPosition(); //depth reading (filtered depth)
tnhnrl 74:d281aaef9766 51 _data_log[2] = pitchLoop().getCommand(); //pitch command
tnhnrl 74:d281aaef9766 52 _data_log[3] = pitchLoop().getPosition(); //pitch reading (filtered pitch)
tnhnrl 74:d281aaef9766 53 _data_log[4] = rudder().getSetPosition_pwm(); //rudder command PWM
tnhnrl 74:d281aaef9766 54 _data_log[5] = rudder().getSetPosition_deg(); //rudder command DEG
tnhnrl 73:f6f378311c8d 55 _data_log[6] = headingLoop().getPosition(); //heading reading (filtered heading)
tnhnrl 73:f6f378311c8d 56
tnhnrl 73:f6f378311c8d 57 _data_log[7] = bce().getSetPosition_mm(); //BCE command
tnhnrl 73:f6f378311c8d 58 _data_log[8] = bce().getPosition_mm(); //BCE reading
tnhnrl 73:f6f378311c8d 59 _data_log[9] = batt().getSetPosition_mm(); //Batt command
tnhnrl 73:f6f378311c8d 60 _data_log[10] = batt().getPosition_mm(); //Batt reading
tnhnrl 73:f6f378311c8d 61 _data_log[11] = pitchLoop().getVelocity(); // pitchRate_degs (degrees per second)
tnhnrl 73:f6f378311c8d 62 _data_log[12] = depthLoop().getVelocity(); // depthRate_fps (feet per second)
tnhnrl 62:d502889e74f1 63
tnhnrl 73:f6f378311c8d 64 _data_log[13] = sensors().getCurrentInput(); // i_in
tnhnrl 73:f6f378311c8d 65 _data_log[14] = sensors().getVoltageInput(); // v_in
tnhnrl 74:d281aaef9766 66 _data_log[15] = sensors().getAltimeterChannelReadings(); // Altimeter Channel Readings
tnhnrl 74:d281aaef9766 67 _data_log[16] = sensors().getInternalPressurePSI(); // int_press_PSI
tnhnrl 73:f6f378311c8d 68
tnhnrl 74:d281aaef9766 69 //BCE_p,i,d,freq,deadband
tnhnrl 74:d281aaef9766 70 _data_log[17] = bce().getControllerP();
tnhnrl 74:d281aaef9766 71 _data_log[18] = bce().getControllerI();
tnhnrl 74:d281aaef9766 72 _data_log[19] = bce().getControllerD();
tnhnrl 74:d281aaef9766 73
tnhnrl 74:d281aaef9766 74 _data_log[20] = batt().getControllerP();
tnhnrl 74:d281aaef9766 75 _data_log[21] = batt().getControllerI();
tnhnrl 74:d281aaef9766 76 _data_log[22] = batt().getControllerD();
tnhnrl 67:c86a4b464682 77
tnhnrl 74:d281aaef9766 78 _data_log[23] = depthLoop().getControllerP();
tnhnrl 74:d281aaef9766 79 _data_log[24] = depthLoop().getControllerI();
tnhnrl 74:d281aaef9766 80 _data_log[25] = depthLoop().getControllerD();
tnhnrl 74:d281aaef9766 81 _data_log[26] = depthLoop().getFilterFrequency();
tnhnrl 74:d281aaef9766 82 _data_log[27] = depthLoop().getDeadband();
tnhnrl 67:c86a4b464682 83
tnhnrl 74:d281aaef9766 84 _data_log[28] = pitchLoop().getControllerP();
tnhnrl 74:d281aaef9766 85 _data_log[29] = pitchLoop().getControllerI();
tnhnrl 74:d281aaef9766 86 _data_log[30] = pitchLoop().getControllerD();
tnhnrl 67:c86a4b464682 87
tnhnrl 74:d281aaef9766 88 _data_log[31] = headingLoop().getControllerP();
tnhnrl 74:d281aaef9766 89 _data_log[32] = headingLoop().getControllerI();
tnhnrl 74:d281aaef9766 90 _data_log[33] = headingLoop().getControllerD();
tnhnrl 74:d281aaef9766 91 _data_log[34] = headingLoop().getFilterFrequency();
tnhnrl 74:d281aaef9766 92 _data_log[35] = headingLoop().getDeadband();
tnhnrl 74:d281aaef9766 93
tnhnrl 62:d502889e74f1 94 string string_state;
tnhnrl 62:d502889e74f1 95 if (current_state == SIT_IDLE)
tnhnrl 62:d502889e74f1 96 string_state = "SIT_IDLE";
tnhnrl 62:d502889e74f1 97 else if (current_state == FIND_NEUTRAL)
tnhnrl 62:d502889e74f1 98 string_state = "FIND_NEUTRAL";
tnhnrl 62:d502889e74f1 99 else if (current_state == DIVE)
tnhnrl 62:d502889e74f1 100 string_state = "DIVE";
tnhnrl 62:d502889e74f1 101 else if (current_state == RISE)
tnhnrl 62:d502889e74f1 102 string_state = "RISE";
tnhnrl 62:d502889e74f1 103 else if (current_state == FLOAT_LEVEL)
tnhnrl 62:d502889e74f1 104 string_state = "FLOAT_LEVEL";
tnhnrl 62:d502889e74f1 105 else if (current_state == FLOAT_BROADCAST)
tnhnrl 62:d502889e74f1 106 string_state = "FLOAT_BROADCAST";
tnhnrl 62:d502889e74f1 107 else if (current_state == EMERGENCY_CLIMB)
tnhnrl 62:d502889e74f1 108 string_state = "EMERGENCY_CLIMB";
tnhnrl 62:d502889e74f1 109 else if (current_state == MULTI_DIVE)
tnhnrl 62:d502889e74f1 110 string_state = "MULTI_DIVE";
tnhnrl 62:d502889e74f1 111 else if (current_state == MULTI_RISE)
tnhnrl 62:d502889e74f1 112 string_state = "MULTI_RISE";
tnhnrl 62:d502889e74f1 113 else if (current_state == KEYBOARD)
tnhnrl 62:d502889e74f1 114 string_state = "KEYBOARD";
tnhnrl 62:d502889e74f1 115 else if (current_state == CHECK_TUNING)
tnhnrl 63:6cb0405fc6e6 116 string_state = "CHECK_TUNING";
tnhnrl 63:6cb0405fc6e6 117 else if (current_state == POSITION_DIVE)
tnhnrl 63:6cb0405fc6e6 118 string_state = "POSITION_DIVE";
tnhnrl 63:6cb0405fc6e6 119 else if (current_state == POSITION_RISE)
tnhnrl 69:919ac8d7e023 120 string_state = "POSITION_RISE";
tnhnrl 71:939d179478c4 121 else if (current_state == TX_MBED_LOG)
tnhnrl 71:939d179478c4 122 string_state = "TX_MBED_LOG";
tnhnrl 74:d281aaef9766 123 else if (current_state == RX_SEQUENCE)
joel_ssc 82:0981b9ada820 124 string_state = "RECEIVE_SEQUENCE";
joel_ssc 82:0981b9ada820 125 else if (current_state == LEG_POSITION_DIVE)
joel_ssc 82:0981b9ada820 126 string_state = "LEG_POS_DIVE";
joel_ssc 82:0981b9ada820 127 else if (current_state == LEG_POSITION_RISE)
joel_ssc 82:0981b9ada820 128 string_state = "LEG_POS_RISE";
joel_ssc 82:0981b9ada820 129 else if (current_state == FB_EXIT)
joel_ssc 82:0981b9ada820 130 string_state = "FB_EXIT";
tnhnrl 69:919ac8d7e023 131
tnhnrl 74:d281aaef9766 132 string blank_space = ""; //to get consistent spacing in the file (had a nonsense char w/o this)
tnhnrl 62:d502889e74f1 133
tnhnrl 76:c802e1da4179 134 //below this format is used for data transmission, each packet needs to be 254 characters long (not counting newline char)
tnhnrl 68:8f549749b8ce 135
tnhnrl 76:c802e1da4179 136 //verified that this generates the correct line length of 254 using SOLELY an mbed 08/16/2018
tnhnrl 76:c802e1da4179 137 fprintf(_fp, "%17s,%.2d,%10d,%5.1f,%5.1f,%6.1f,%6.1f,%4.0f,%4.0f,%6.1f,%5.1f,%6.1f,%5.1f,%6.1f,%6.1f,%6.1f,%6.3f,%6.2f,%5.0f,%6.2f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%6.2f,%5.3f,%5.3f,%4.1f,%4.1f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%4.1f,%4.1f\n",
joel_ssc 82:0981b9ada820 138 string_state.c_str(),current_state,data_log_time-start_time,
tnhnrl 74:d281aaef9766 139 _data_log[0],_data_log[1],_data_log[2],_data_log[3],_data_log[4],_data_log[5],_data_log[6],_data_log[7],_data_log[8],_data_log[9],_data_log[10],_data_log[11],_data_log[12],_data_log[13],_data_log[14],_data_log[15],
tnhnrl 74:d281aaef9766 140 _data_log[16],_data_log[17],_data_log[18],_data_log[19],_data_log[20],_data_log[21],_data_log[22],_data_log[23],_data_log[24],_data_log[25],_data_log[26],_data_log[27],_data_log[28],_data_log[29],_data_log[30],
tnhnrl 74:d281aaef9766 141 _data_log[31],_data_log[32],_data_log[33],_data_log[34],_data_log[35]);
tnhnrl 74:d281aaef9766 142
tnhnrl 67:c86a4b464682 143 //each line in the file is 160 characters long text-wise, check this with a file read
tnhnrl 62:d502889e74f1 144 }
tnhnrl 62:d502889e74f1 145
tnhnrl 62:d502889e74f1 146 void MbedLogger::printMbedDirectory() {
tnhnrl 62:d502889e74f1 147 DIR *dir;
tnhnrl 62:d502889e74f1 148 struct dirent *dp; //dirent.h is the format of directory entries
tnhnrl 62:d502889e74f1 149 int log_found =0,loop=0;
tnhnrl 62:d502889e74f1 150 long int temp=0;
tnhnrl 62:d502889e74f1 151
tnhnrl 62:d502889e74f1 152 //char * char_pointer;
tnhnrl 62:d502889e74f1 153 char * numstart;
tnhnrl 62:d502889e74f1 154 //char *numstop;
tnhnrl 62:d502889e74f1 155
tnhnrl 74:d281aaef9766 156 xbee().printf("\n\rPrinting out the directory of device %s\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 157
tnhnrl 62:d502889e74f1 158 if ( NULL == (dir = opendir( _file_system_string.c_str() )) ) {
tnhnrl 74:d281aaef9766 159 xbee().printf("MBED directory could not be opened\r\n");
tnhnrl 62:d502889e74f1 160 }
tnhnrl 62:d502889e74f1 161 else
tnhnrl 62:d502889e74f1 162 {
tnhnrl 62:d502889e74f1 163 while ( NULL != (dp = readdir( dir )) )
tnhnrl 62:d502889e74f1 164 {
tnhnrl 62:d502889e74f1 165 if(strncmp(dp->d_name,"LOG",3)==0)
tnhnrl 62:d502889e74f1 166 {
tnhnrl 62:d502889e74f1 167 log_found=1;
tnhnrl 62:d502889e74f1 168 /*numstart = dp->d_name; //Look for third character (do safety)
tnhnrl 62:d502889e74f1 169 numstop = strchr(dp->d_name,'.');
tnhnrl 62:d502889e74f1 170 if(numstart!=NULL&&numstop!=NULL)
tnhnrl 62:d502889e74f1 171 {
tnhnrl 62:d502889e74f1 172 temp=numstop-numstart;
tnhnrl 62:d502889e74f1 173 }
tnhnrl 62:d502889e74f1 174 else
tnhnrl 62:d502889e74f1 175 log_found=0; //Something is not right. Ignore
tnhnrl 62:d502889e74f1 176 */
tnhnrl 62:d502889e74f1 177 numstart=dp->d_name+3;
tnhnrl 62:d502889e74f1 178 temp=strtol(numstart,NULL,10); //add in check to see if this is null (start logs at one)
tnhnrl 62:d502889e74f1 179 }
tnhnrl 62:d502889e74f1 180 else
tnhnrl 62:d502889e74f1 181 log_found=0;
tnhnrl 74:d281aaef9766 182 xbee().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
tnhnrl 62:d502889e74f1 183
tnhnrl 62:d502889e74f1 184 loop++;
tnhnrl 62:d502889e74f1 185 }
tnhnrl 62:d502889e74f1 186 }
tnhnrl 62:d502889e74f1 187 }
tnhnrl 62:d502889e74f1 188
tnhnrl 68:8f549749b8ce 189 //prints current log file to the screen (terminal)
tnhnrl 62:d502889e74f1 190 void MbedLogger::printCurrentLogFile() {
tnhnrl 62:d502889e74f1 191 //open the file for reading
tnhnrl 62:d502889e74f1 192 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 193
tnhnrl 63:6cb0405fc6e6 194 _log_file_line_counter = 0;
tnhnrl 62:d502889e74f1 195
tnhnrl 62:d502889e74f1 196 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 197
tnhnrl 62:d502889e74f1 198 char buffer[500];
tnhnrl 62:d502889e74f1 199
tnhnrl 62:d502889e74f1 200 //read the file line-by-line and print that to the screen
tnhnrl 74:d281aaef9766 201 xbee().printf("\n\rCURRENT MBED LOG FILE /local/Log%03d.csv:\n\n\r",_file_number);
tnhnrl 62:d502889e74f1 202 while (!feof(_fp)) {
tnhnrl 62:d502889e74f1 203 // read in the line and make sure it was successful
tnhnrl 62:d502889e74f1 204 if (fgets(buffer,500,_fp) != NULL) { //stops at new line
tnhnrl 74:d281aaef9766 205 xbee().printf("%s\r",buffer);
tnhnrl 63:6cb0405fc6e6 206 _log_file_line_counter++;
tnhnrl 62:d502889e74f1 207 }
tnhnrl 62:d502889e74f1 208 }
tnhnrl 62:d502889e74f1 209
tnhnrl 62:d502889e74f1 210 //fgets stops when either (n-1) characters are read, the newline character is read,
tnhnrl 62:d502889e74f1 211 // or the end-of-file is reached
tnhnrl 62:d502889e74f1 212
tnhnrl 62:d502889e74f1 213 //close the file
tnhnrl 62:d502889e74f1 214 closeLogFile();
tnhnrl 74:d281aaef9766 215 xbee().printf("\n\rLog file closed. Lines in log file: %d.\n\r", _log_file_line_counter);
tnhnrl 62:d502889e74f1 216 }
tnhnrl 62:d502889e74f1 217
tnhnrl 73:f6f378311c8d 218 void MbedLogger::blastData() {
tnhnrl 74:d281aaef9766 219 xbee().printf("blastData FUNCTION\n\r");
tnhnrl 73:f6f378311c8d 220
tnhnrl 73:f6f378311c8d 221 //OPEN FILE FOR READING
tnhnrl 73:f6f378311c8d 222
tnhnrl 73:f6f378311c8d 223 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 73:f6f378311c8d 224
tnhnrl 73:f6f378311c8d 225 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 73:f6f378311c8d 226
tnhnrl 73:f6f378311c8d 227 /******************************/
tnhnrl 73:f6f378311c8d 228 while(1) {
tnhnrl 73:f6f378311c8d 229 wait(0.05);
tnhnrl 73:f6f378311c8d 230 if (!feof(_fp)) { //check for end of file
tnhnrl 73:f6f378311c8d 231 //based on the internal packet number of the class //createDataPacket //transmit data packet
tnhnrl 73:f6f378311c8d 232 transmitPacketNumber(_packet_number);
tnhnrl 74:d281aaef9766 233 xbee().printf("\r"); // for proper spacing
tnhnrl 73:f6f378311c8d 234
tnhnrl 73:f6f378311c8d 235 _packet_number++;
tnhnrl 73:f6f378311c8d 236 }
tnhnrl 73:f6f378311c8d 237 else {
tnhnrl 73:f6f378311c8d 238 _packet_number = 0; //reset packet number
tnhnrl 73:f6f378311c8d 239 break;
tnhnrl 73:f6f378311c8d 240 }
tnhnrl 73:f6f378311c8d 241 }
tnhnrl 73:f6f378311c8d 242 /******************************/
tnhnrl 73:f6f378311c8d 243
tnhnrl 73:f6f378311c8d 244 //CLOSE THE FILE
tnhnrl 73:f6f378311c8d 245 closeLogFile();
tnhnrl 74:d281aaef9766 246 xbee().printf("\n\rblastData: Log file closed. %d.\n\r");
tnhnrl 62:d502889e74f1 247 }
tnhnrl 62:d502889e74f1 248
tnhnrl 62:d502889e74f1 249 void MbedLogger::createDataPacket() {
tnhnrl 62:d502889e74f1 250 // packet is 7565 0001 FFFF EEEE CC DATA DATA DATA ... CRC1 CRC2
tnhnrl 62:d502889e74f1 251
tnhnrl 62:d502889e74f1 252 //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
tnhnrl 62:d502889e74f1 253 _data_packet.clear();
tnhnrl 62:d502889e74f1 254
tnhnrl 62:d502889e74f1 255 //DATA PACKET HEADER
tnhnrl 62:d502889e74f1 256 _data_packet.push_back(117); //0x75
tnhnrl 62:d502889e74f1 257 _data_packet.push_back(101); //0x65
tnhnrl 62:d502889e74f1 258
tnhnrl 62:d502889e74f1 259 _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 260 _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 261
tnhnrl 62:d502889e74f1 262 _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 263 _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 264
tnhnrl 62:d502889e74f1 265 _data_packet.push_back(_current_line_length);
tnhnrl 62:d502889e74f1 266
tnhnrl 74:d281aaef9766 267 //xbee().printf("DEBUG: Current line buffer: %s\n\r", _line_buffer); //debug
tnhnrl 62:d502889e74f1 268
tnhnrl 62:d502889e74f1 269 //DATA FROM LINE READ (read string character by chracter)
tnhnrl 62:d502889e74f1 270 for (int i = 0; i < _current_line_length; i++) {
tnhnrl 62:d502889e74f1 271 _data_packet.push_back(_line_buffer[i]);
tnhnrl 62:d502889e74f1 272 }
tnhnrl 62:d502889e74f1 273
tnhnrl 62:d502889e74f1 274 //CRC CALCULATIONS BELOW
tnhnrl 62:d502889e74f1 275 //character version of calculation screws up on null character 0x00, scrapped and using vector of integers
tnhnrl 62:d502889e74f1 276
tnhnrl 62:d502889e74f1 277 int crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 278 int crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 279
tnhnrl 62:d502889e74f1 280 //place the crc bytes into the data packet that is transmitted
tnhnrl 62:d502889e74f1 281 _data_packet.push_back(crc_one);
tnhnrl 62:d502889e74f1 282 _data_packet.push_back(crc_two);
tnhnrl 62:d502889e74f1 283 }
tnhnrl 62:d502889e74f1 284
tnhnrl 69:919ac8d7e023 285 //new 6/27/2018
tnhnrl 69:919ac8d7e023 286 void MbedLogger::createDataPacket(char line_buffer_sent[], int line_length_sent) {
tnhnrl 69:919ac8d7e023 287 // packet is 7565 0001 FFFF EEEE CC DATA DATA DATA ... CRC1 CRC2
tnhnrl 69:919ac8d7e023 288
tnhnrl 69:919ac8d7e023 289 //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
tnhnrl 69:919ac8d7e023 290 _data_packet.clear();
tnhnrl 69:919ac8d7e023 291
tnhnrl 69:919ac8d7e023 292 //DATA PACKET HEADER
tnhnrl 69:919ac8d7e023 293 _data_packet.push_back(117); //0x75
tnhnrl 69:919ac8d7e023 294 _data_packet.push_back(101); //0x65
tnhnrl 69:919ac8d7e023 295
tnhnrl 69:919ac8d7e023 296 _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
tnhnrl 69:919ac8d7e023 297 _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
tnhnrl 69:919ac8d7e023 298
tnhnrl 69:919ac8d7e023 299 _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
tnhnrl 69:919ac8d7e023 300 _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
tnhnrl 69:919ac8d7e023 301
tnhnrl 69:919ac8d7e023 302 _data_packet.push_back(line_length_sent);
tnhnrl 69:919ac8d7e023 303
tnhnrl 74:d281aaef9766 304 //xbee().printf("DEBUG: Current line buffer: %s\n\r", _line_buffer); //debug
tnhnrl 69:919ac8d7e023 305
tnhnrl 69:919ac8d7e023 306 //DATA FROM LINE READ (read string character by chracter)
tnhnrl 69:919ac8d7e023 307 for (int i = 0; i < line_length_sent; i++) {
tnhnrl 69:919ac8d7e023 308 _data_packet.push_back(line_buffer_sent[i]);
tnhnrl 69:919ac8d7e023 309 }
tnhnrl 69:919ac8d7e023 310
tnhnrl 69:919ac8d7e023 311 //CRC CALCULATIONS BELOW
tnhnrl 69:919ac8d7e023 312 //character version of calculation screws up on null character 0x00, scrapped and using vector of integers
tnhnrl 69:919ac8d7e023 313
tnhnrl 69:919ac8d7e023 314 int crc_one = calcCrcOne();
tnhnrl 69:919ac8d7e023 315 int crc_two = calcCrcTwo();
tnhnrl 69:919ac8d7e023 316
tnhnrl 69:919ac8d7e023 317 //place the crc bytes into the data packet that is transmitted
tnhnrl 69:919ac8d7e023 318 _data_packet.push_back(crc_one);
tnhnrl 69:919ac8d7e023 319 _data_packet.push_back(crc_two);
tnhnrl 69:919ac8d7e023 320
tnhnrl 74:d281aaef9766 321 //xbee().printf("debug createDataPacket(char line_buffer_sent[], int line_length_sent)\n\r");
tnhnrl 69:919ac8d7e023 322 }
tnhnrl 69:919ac8d7e023 323
tnhnrl 62:d502889e74f1 324 //should i save it as a string and transmit the string? next iteration maybe
tnhnrl 62:d502889e74f1 325
tnhnrl 62:d502889e74f1 326 void MbedLogger::transmitDataPacket() {
tnhnrl 62:d502889e74f1 327 //WRITE the data (in bytes) to the serial port
tnhnrl 62:d502889e74f1 328 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++) {
tnhnrl 74:d281aaef9766 329 xbee().putc(*_it); //send integers over serial port one byte at a time
tnhnrl 62:d502889e74f1 330 }
tnhnrl 62:d502889e74f1 331 }
tnhnrl 62:d502889e74f1 332
tnhnrl 62:d502889e74f1 333 // test to see if transmitDataPacket is working slower than you think.
tnhnrl 62:d502889e74f1 334
tnhnrl 62:d502889e74f1 335 // REACH ONE CHAR AT A TIME (EACH ITERATION OF STATE MACHINE...)
tnhnrl 62:d502889e74f1 336
tnhnrl 68:8f549749b8ce 337
tnhnrl 68:8f549749b8ce 338 void MbedLogger::continuouslyTransmitDataNoTimer() {
tnhnrl 68:8f549749b8ce 339 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 68:8f549749b8ce 340
tnhnrl 68:8f549749b8ce 341 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 68:8f549749b8ce 342
tnhnrl 68:8f549749b8ce 343 static int packet_num = 0;
tnhnrl 68:8f549749b8ce 344
tnhnrl 68:8f549749b8ce 345 while(!feof(_fp)) {
tnhnrl 68:8f549749b8ce 346
tnhnrl 68:8f549749b8ce 347 _packet_number = packet_num;
tnhnrl 68:8f549749b8ce 348
tnhnrl 68:8f549749b8ce 349 readPacketInSeries(); //not using this but for testing purposes...
tnhnrl 68:8f549749b8ce 350
tnhnrl 68:8f549749b8ce 351 // // createDataPacket requires _packet_number, _total_number_of_packets, _current_line_length (data packet size)
tnhnrl 68:8f549749b8ce 352 // // uses char _line_buffer[256] variable to hold characters read from the file
tnhnrl 69:919ac8d7e023 353 // // packs this into a vector for transmission
tnhnrl 69:919ac8d7e023 354
tnhnrl 68:8f549749b8ce 355 createDataPacket();
tnhnrl 68:8f549749b8ce 356
tnhnrl 68:8f549749b8ce 357 transmitDataPacket();
tnhnrl 68:8f549749b8ce 358
tnhnrl 68:8f549749b8ce 359 packet_num++;
tnhnrl 68:8f549749b8ce 360
tnhnrl 68:8f549749b8ce 361 led3() = !led3();
tnhnrl 68:8f549749b8ce 362
tnhnrl 68:8f549749b8ce 363 //check for incoming request
tnhnrl 68:8f549749b8ce 364 }
tnhnrl 68:8f549749b8ce 365
tnhnrl 68:8f549749b8ce 366 closeLogFile(); //close log file if open
tnhnrl 68:8f549749b8ce 367 led4() = !led4();
tnhnrl 68:8f549749b8ce 368 }
tnhnrl 68:8f549749b8ce 369
tnhnrl 73:f6f378311c8d 370 void MbedLogger::fsmTransmitData() { //using the finite state machine
tnhnrl 73:f6f378311c8d 371 if ( !feof(_fp) and (!_fsm_transmit_complete) ) { //check for end of file
tnhnrl 73:f6f378311c8d 372 //based on the internal packet number of the class //createDataPacket //transmit data packet
tnhnrl 69:919ac8d7e023 373 transmitPacketNumber(_packet_number);
tnhnrl 69:919ac8d7e023 374
tnhnrl 74:d281aaef9766 375 xbee().printf("\r"); // for proper spacing
tnhnrl 73:f6f378311c8d 376
tnhnrl 69:919ac8d7e023 377 _packet_number++;
tnhnrl 68:8f549749b8ce 378
tnhnrl 73:f6f378311c8d 379 led2() = !led2();
tnhnrl 68:8f549749b8ce 380 }
tnhnrl 69:919ac8d7e023 381 else {
tnhnrl 73:f6f378311c8d 382 _packet_number = 0; //reset packet number
tnhnrl 73:f6f378311c8d 383
tnhnrl 69:919ac8d7e023 384 _fsm_transmit_complete = true;
tnhnrl 73:f6f378311c8d 385
tnhnrl 73:f6f378311c8d 386 led3() = !led3();
tnhnrl 69:919ac8d7e023 387 }
tnhnrl 68:8f549749b8ce 388 }
tnhnrl 68:8f549749b8ce 389
tnhnrl 71:939d179478c4 390 //transmitting log file with fixed length of characters to receiver program
tnhnrl 68:8f549749b8ce 391 void MbedLogger::transmitPacketNumber(int line_number) {
tnhnrl 73:f6f378311c8d 392 int line_size = 254; //length of lines in the log file, EVERY LINE MUST BE THE SAME LENGTH
tnhnrl 69:919ac8d7e023 393
tnhnrl 68:8f549749b8ce 394 fseek(_fp,(line_size+1)*line_number,SEEK_SET); //fseek must use the +1 to get the newline character
tnhnrl 69:919ac8d7e023 395
tnhnrl 69:919ac8d7e023 396 //write over the internal _line_buffer //start from the beginning and go to this position
tnhnrl 69:919ac8d7e023 397 fread(_line_buffer, 1, line_size, _fp); //read the line that is exactly 160 characters long
tnhnrl 68:8f549749b8ce 398
tnhnrl 74:d281aaef9766 399 //xbee().printf("Debug (transmitPacketNumber): line_buffer <<%s>> (line size: %d)\n\r", line_buffer,line_size);
tnhnrl 68:8f549749b8ce 400
tnhnrl 68:8f549749b8ce 401 // createDataPacket requires _packet_number, _total_number_of_packets, _current_line_length (data packet size)
tnhnrl 68:8f549749b8ce 402 // uses char _line_buffer[256] variable to hold characters read from the file
tnhnrl 68:8f549749b8ce 403 // packs this into a vector for transmission
tnhnrl 68:8f549749b8ce 404
tnhnrl 71:939d179478c4 405 //change the internal member variable for packet number, reorg this later
tnhnrl 71:939d179478c4 406 _packet_number = line_number;
tnhnrl 71:939d179478c4 407
tnhnrl 69:919ac8d7e023 408 createDataPacket(_line_buffer, line_size); //create the data packet from the _line_buffer (char array)
tnhnrl 69:919ac8d7e023 409
tnhnrl 68:8f549749b8ce 410 transmitDataPacket(); //transmit the assembled packet
tnhnrl 68:8f549749b8ce 411 }
tnhnrl 68:8f549749b8ce 412
tnhnrl 69:919ac8d7e023 413
tnhnrl 69:919ac8d7e023 414 //receive correct data packet from python, immediately send a transmit packet from the MBED
tnhnrl 73:f6f378311c8d 415 void MbedLogger::transmitOnePacket() {
tnhnrl 74:d281aaef9766 416 xbee().printf("transmitOnePacket\n");
tnhnrl 73:f6f378311c8d 417
tnhnrl 68:8f549749b8ce 418 static int transmit_state = HEADER_117; //state in switch statement
tnhnrl 73:f6f378311c8d 419 //int incoming_byte = -1; //reset each time a character is read
tnhnrl 68:8f549749b8ce 420 int requested_packet_number = -1; //reset each time a character is read
tnhnrl 68:8f549749b8ce 421 static int input_packet[4]; //changed from char in previous iteration 03/28/2018
tnhnrl 68:8f549749b8ce 422 static int transmit_crc_one = 0; //hold crc values until they're reset with calculations
tnhnrl 68:8f549749b8ce 423 static int transmit_crc_two = 0;
tnhnrl 73:f6f378311c8d 424
tnhnrl 73:f6f378311c8d 425 int incoming_byte[6];
tnhnrl 73:f6f378311c8d 426
tnhnrl 73:f6f378311c8d 427 static int bytes_received = 0;
tnhnrl 73:f6f378311c8d 428
tnhnrl 73:f6f378311c8d 429 int req_packet_number = -1;
tnhnrl 68:8f549749b8ce 430
tnhnrl 73:f6f378311c8d 431 while (1) {
tnhnrl 74:d281aaef9766 432 incoming_byte[bytes_received] = xbee().getc();
tnhnrl 74:d281aaef9766 433 xbee().printf("<%d> ", incoming_byte[bytes_received]);
tnhnrl 68:8f549749b8ce 434
tnhnrl 73:f6f378311c8d 435 bytes_received++;
tnhnrl 73:f6f378311c8d 436
tnhnrl 73:f6f378311c8d 437 if (bytes_received > 5) {
tnhnrl 68:8f549749b8ce 438
tnhnrl 73:f6f378311c8d 439 req_packet_number = incoming_byte[2] * 256 + incoming_byte[3];
tnhnrl 68:8f549749b8ce 440
tnhnrl 74:d281aaef9766 441 xbee().printf("req_packet_number = %d\n\r", req_packet_number);
tnhnrl 68:8f549749b8ce 442
tnhnrl 73:f6f378311c8d 443 bytes_received = 0;
tnhnrl 68:8f549749b8ce 444 break;
tnhnrl 73:f6f378311c8d 445 }
tnhnrl 73:f6f378311c8d 446 }
tnhnrl 73:f6f378311c8d 447
tnhnrl 73:f6f378311c8d 448 setTransmitPacketNumber(0);
tnhnrl 73:f6f378311c8d 449
tnhnrl 73:f6f378311c8d 450 //open the file
tnhnrl 73:f6f378311c8d 451 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 73:f6f378311c8d 452 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 73:f6f378311c8d 453
tnhnrl 73:f6f378311c8d 454 //receive correct checksum, immediately send this packet
tnhnrl 73:f6f378311c8d 455 transmitPacketNumber(req_packet_number);
tnhnrl 73:f6f378311c8d 456
tnhnrl 74:d281aaef9766 457 //fclose(_fp);
tnhnrl 74:d281aaef9766 458 closeLogFile();
tnhnrl 68:8f549749b8ce 459 }
tnhnrl 68:8f549749b8ce 460
tnhnrl 73:f6f378311c8d 461 void MbedLogger::transmitMultiplePackets() {
tnhnrl 74:d281aaef9766 462 xbee().printf("transmitMultiplePackets\n");
tnhnrl 73:f6f378311c8d 463
tnhnrl 74:d281aaef9766 464 //static int transmit_state = HEADER_117; //state in switch statement
tnhnrl 73:f6f378311c8d 465 //int incoming_byte = -1; //reset each time a character is read
tnhnrl 74:d281aaef9766 466 //int requested_packet_number = -1; //reset each time a character is read
tnhnrl 74:d281aaef9766 467 static int input_packet; //changed from char in previous iteration 03/28/2018
tnhnrl 62:d502889e74f1 468 static int transmit_crc_one = 0; //hold crc values until they're reset with calculations
tnhnrl 62:d502889e74f1 469 static int transmit_crc_two = 0;
tnhnrl 74:d281aaef9766 470
tnhnrl 74:d281aaef9766 471 int current_byte = -1;
tnhnrl 62:d502889e74f1 472
tnhnrl 73:f6f378311c8d 473 static int bytes_received = 0;
tnhnrl 73:f6f378311c8d 474
tnhnrl 73:f6f378311c8d 475 int req_packet_number = -1;
tnhnrl 73:f6f378311c8d 476
tnhnrl 74:d281aaef9766 477 //GET TOTAL NUMBER OF PACKETS!
tnhnrl 74:d281aaef9766 478 getNumberOfPacketsInCurrentLog();
tnhnrl 74:d281aaef9766 479 //GET TOTAL NUMBER OF PACKETS!
tnhnrl 74:d281aaef9766 480
tnhnrl 73:f6f378311c8d 481 //open the file
tnhnrl 73:f6f378311c8d 482 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 73:f6f378311c8d 483 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 74:d281aaef9766 484
tnhnrl 74:d281aaef9766 485 //DEFAULT STATE
tnhnrl 74:d281aaef9766 486 static int current_state = HEADER_117;
tnhnrl 74:d281aaef9766 487
tnhnrl 74:d281aaef9766 488 bool active_loop = true;
tnhnrl 74:d281aaef9766 489
tnhnrl 74:d281aaef9766 490 while (active_loop) {
tnhnrl 73:f6f378311c8d 491 //INCOMING BYTE
tnhnrl 74:d281aaef9766 492 current_byte = xbee().getc();
tnhnrl 74:d281aaef9766 493
tnhnrl 74:d281aaef9766 494 //provide the next byte / state
tnhnrl 73:f6f378311c8d 495
tnhnrl 74:d281aaef9766 496 switch (current_state) {
tnhnrl 74:d281aaef9766 497 case HEADER_117:
tnhnrl 74:d281aaef9766 498 //xbee().printf("HEADING 117\n\r");
tnhnrl 74:d281aaef9766 499 if (current_byte == 0x75) {
tnhnrl 74:d281aaef9766 500 current_state = HEADER_101;
tnhnrl 74:d281aaef9766 501 }
tnhnrl 74:d281aaef9766 502
tnhnrl 74:d281aaef9766 503
tnhnrl 74:d281aaef9766 504 else if (current_byte == 0x10) {
tnhnrl 74:d281aaef9766 505 current_state = END_TX_1;
tnhnrl 74:d281aaef9766 506 }
tnhnrl 74:d281aaef9766 507 break;
tnhnrl 74:d281aaef9766 508 case HEADER_101:
tnhnrl 74:d281aaef9766 509 //xbee().printf("HEADING 101\n\r");
tnhnrl 74:d281aaef9766 510 if (current_byte == 0x65) {
tnhnrl 74:d281aaef9766 511 current_state = PACKET_NO_1;
tnhnrl 73:f6f378311c8d 512 }
tnhnrl 74:d281aaef9766 513 break;
tnhnrl 74:d281aaef9766 514 case PACKET_NO_1:
tnhnrl 74:d281aaef9766 515 //xbee().printf("PACKET_NO_1\n\r");
tnhnrl 74:d281aaef9766 516 input_packet = current_byte * 256;
tnhnrl 74:d281aaef9766 517
tnhnrl 74:d281aaef9766 518 current_state = PACKET_NO_2;
tnhnrl 74:d281aaef9766 519 //xbee().printf("PACKET # 1 current byte %d\n\r", current_byte);
tnhnrl 74:d281aaef9766 520 break;
tnhnrl 73:f6f378311c8d 521
tnhnrl 74:d281aaef9766 522 case PACKET_NO_2:
tnhnrl 74:d281aaef9766 523 //xbee().printf("PACKET_NO_2\n\r");
tnhnrl 74:d281aaef9766 524 input_packet = input_packet + current_byte;
tnhnrl 74:d281aaef9766 525
tnhnrl 74:d281aaef9766 526 current_state = PACKET_CRC_ONE;
tnhnrl 74:d281aaef9766 527 //xbee().printf("PACKET # 2 current byte %d (req packet num: %d)\n\r", current_byte, input_packet);
tnhnrl 74:d281aaef9766 528 break;
tnhnrl 74:d281aaef9766 529
tnhnrl 74:d281aaef9766 530 case PACKET_CRC_ONE:
tnhnrl 74:d281aaef9766 531 //xbee().printf("PACKET_CRC_ONE\n\r");
tnhnrl 74:d281aaef9766 532 current_state = PACKET_CRC_TWO;
tnhnrl 74:d281aaef9766 533 break;
tnhnrl 73:f6f378311c8d 534
tnhnrl 74:d281aaef9766 535 case PACKET_CRC_TWO:
tnhnrl 74:d281aaef9766 536 //xbee().printf("PACKET_CRC_TWO\n\r");
tnhnrl 74:d281aaef9766 537 current_state = HEADER_117;
tnhnrl 74:d281aaef9766 538 transmitPacketNumber(input_packet);
tnhnrl 74:d281aaef9766 539 break;
tnhnrl 74:d281aaef9766 540
tnhnrl 74:d281aaef9766 541 case END_TX_1:
tnhnrl 74:d281aaef9766 542 //xbee().printf("END_TX_1\n\r");
tnhnrl 74:d281aaef9766 543 current_state = END_TX_2;
tnhnrl 74:d281aaef9766 544 break;
tnhnrl 74:d281aaef9766 545 case END_TX_2:
tnhnrl 74:d281aaef9766 546 //xbee().printf("END_TX_2\n\r");
tnhnrl 74:d281aaef9766 547 current_state = HEADER_117;
tnhnrl 74:d281aaef9766 548 active_loop = false;
tnhnrl 74:d281aaef9766 549 break;
tnhnrl 73:f6f378311c8d 550
tnhnrl 74:d281aaef9766 551 default:
tnhnrl 74:d281aaef9766 552 //reset state
tnhnrl 74:d281aaef9766 553 //xbee().printf("DEFAULT. HEADER_117\n\r");
tnhnrl 74:d281aaef9766 554 current_state = HEADER_117; //reset here
tnhnrl 74:d281aaef9766 555 break;
tnhnrl 73:f6f378311c8d 556
tnhnrl 73:f6f378311c8d 557 }
tnhnrl 73:f6f378311c8d 558 }
tnhnrl 73:f6f378311c8d 559
tnhnrl 73:f6f378311c8d 560 //CLOSE THE FILE
tnhnrl 74:d281aaef9766 561 closeLogFile();
tnhnrl 74:d281aaef9766 562 xbee().printf("08/05/2018 CLOSE THE LOG FILE\n\r");
tnhnrl 74:d281aaef9766 563
tnhnrl 74:d281aaef9766 564 //RESET THE STATE
tnhnrl 74:d281aaef9766 565 //current_state = HEADER_117;
tnhnrl 73:f6f378311c8d 566 }
tnhnrl 73:f6f378311c8d 567
tnhnrl 73:f6f378311c8d 568 void MbedLogger::checkForPythonTransmitRequest() {
tnhnrl 74:d281aaef9766 569 //xbee().printf("checkForPythonTransmitRequest\n");
tnhnrl 73:f6f378311c8d 570
tnhnrl 74:d281aaef9766 571 if ( xbee().readable() ) {
tnhnrl 73:f6f378311c8d 572
tnhnrl 73:f6f378311c8d 573 //PC READABLE DOES NOT WORK HERE?!
tnhnrl 73:f6f378311c8d 574
tnhnrl 73:f6f378311c8d 575 led2() = !led2();
tnhnrl 63:6cb0405fc6e6 576 led3() = !led3();
tnhnrl 62:d502889e74f1 577
tnhnrl 74:d281aaef9766 578 xbee().printf("########################\n");
tnhnrl 74:d281aaef9766 579 //xbee().printf("%d", xbee().getc());
tnhnrl 73:f6f378311c8d 580 }
tnhnrl 73:f6f378311c8d 581
tnhnrl 73:f6f378311c8d 582 // static int transmit_state = HEADER_117; //state in switch statement
tnhnrl 73:f6f378311c8d 583 // //int incoming_byte = -1; //reset each time a character is read
tnhnrl 73:f6f378311c8d 584 // int requested_packet_number = -1; //reset each time a character is read
tnhnrl 73:f6f378311c8d 585 // static int input_packet[4]; //changed from char in previous iteration 03/28/2018
tnhnrl 73:f6f378311c8d 586 // static int transmit_crc_one = 0; //hold crc values until they're reset with calculations
tnhnrl 73:f6f378311c8d 587 // static int transmit_crc_two = 0;
tnhnrl 73:f6f378311c8d 588 //
tnhnrl 73:f6f378311c8d 589 // static int incoming_byte[6];
tnhnrl 73:f6f378311c8d 590 //
tnhnrl 73:f6f378311c8d 591 // static int bytes_received = 0;
tnhnrl 73:f6f378311c8d 592 //
tnhnrl 73:f6f378311c8d 593 // int req_packet_number = -1;
tnhnrl 73:f6f378311c8d 594 //
tnhnrl 74:d281aaef9766 595 // if (xbee().readable()) {
tnhnrl 74:d281aaef9766 596 // incoming_byte[bytes_received] = xbee().getc();
tnhnrl 74:d281aaef9766 597 // xbee().printf("<%d> ", incoming_byte[bytes_received]);
tnhnrl 73:f6f378311c8d 598 //
tnhnrl 73:f6f378311c8d 599 // bytes_received++;
tnhnrl 73:f6f378311c8d 600 //
tnhnrl 73:f6f378311c8d 601 // if (bytes_received > 5) {
tnhnrl 73:f6f378311c8d 602 //
tnhnrl 73:f6f378311c8d 603 // req_packet_number = incoming_byte[2] * 256 + incoming_byte[3];
tnhnrl 73:f6f378311c8d 604 //
tnhnrl 74:d281aaef9766 605 // xbee().printf("req_packet_number = %d\n\r", req_packet_number);
tnhnrl 73:f6f378311c8d 606 //
tnhnrl 73:f6f378311c8d 607 // //reset
tnhnrl 73:f6f378311c8d 608 // bytes_received = 0;
tnhnrl 73:f6f378311c8d 609 // }
tnhnrl 73:f6f378311c8d 610 // }
tnhnrl 73:f6f378311c8d 611 //
tnhnrl 73:f6f378311c8d 612 // //setTransmitPacketNumber(0);
tnhnrl 73:f6f378311c8d 613 //
tnhnrl 73:f6f378311c8d 614 // /* OPEN THE FILE */
tnhnrl 73:f6f378311c8d 615 // string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 73:f6f378311c8d 616 //_fp = fopen(file_name_string.c_str(), "r");
tnhnrl 73:f6f378311c8d 617
tnhnrl 73:f6f378311c8d 618 /* RECEIVE CORRECT CHECKSUM, SEND PACKET */
tnhnrl 73:f6f378311c8d 619 //transmitPacketNumber(req_packet_number);
tnhnrl 73:f6f378311c8d 620
tnhnrl 73:f6f378311c8d 621 //fclose(_fp);
tnhnrl 73:f6f378311c8d 622
tnhnrl 73:f6f378311c8d 623 // switch(transmit_state) {
tnhnrl 73:f6f378311c8d 624 // case HEADER_117:
tnhnrl 73:f6f378311c8d 625 // led3() = !led3();
tnhnrl 73:f6f378311c8d 626 //
tnhnrl 73:f6f378311c8d 627 // //continue processing
tnhnrl 73:f6f378311c8d 628 // if (incoming_byte == 117){ //"u"
tnhnrl 73:f6f378311c8d 629 // transmit_state = HEADER_101;
tnhnrl 73:f6f378311c8d 630 // }
tnhnrl 73:f6f378311c8d 631 // //did not receive byte 1
tnhnrl 73:f6f378311c8d 632 // else {
tnhnrl 73:f6f378311c8d 633 // transmit_state = HEADER_117; //go back to checking the first packet
tnhnrl 73:f6f378311c8d 634 // }
tnhnrl 73:f6f378311c8d 635 // break;
tnhnrl 73:f6f378311c8d 636 //
tnhnrl 73:f6f378311c8d 637 // case HEADER_101:
tnhnrl 73:f6f378311c8d 638 // if(incoming_byte == 101) { //"e"
tnhnrl 73:f6f378311c8d 639 // transmit_state = TRANSMIT_PACKET_1;
tnhnrl 74:d281aaef9766 640 // //xbee().printf(" U E \n\r");
tnhnrl 73:f6f378311c8d 641 // }
tnhnrl 73:f6f378311c8d 642 // else {
tnhnrl 73:f6f378311c8d 643 // transmit_state = HEADER_117;
tnhnrl 73:f6f378311c8d 644 // }
tnhnrl 73:f6f378311c8d 645 // break;
tnhnrl 73:f6f378311c8d 646 //
tnhnrl 73:f6f378311c8d 647 // case TRANSMIT_PACKET_1:
tnhnrl 73:f6f378311c8d 648 // if (incoming_byte >= 0) {
tnhnrl 73:f6f378311c8d 649 // input_packet[0] = 117;
tnhnrl 73:f6f378311c8d 650 // input_packet[1] = 101;
tnhnrl 73:f6f378311c8d 651 // input_packet[2] = incoming_byte;
tnhnrl 73:f6f378311c8d 652 //
tnhnrl 73:f6f378311c8d 653 // transmit_state = TRANSMIT_PACKET_2;
tnhnrl 73:f6f378311c8d 654 // //_reply_byte3 = incoming_byte;
tnhnrl 73:f6f378311c8d 655 //
tnhnrl 73:f6f378311c8d 656 // led1() = !led1();
tnhnrl 74:d281aaef9766 657 // //xbee().printf(" T P \n\r");
tnhnrl 74:d281aaef9766 658 // //xbee().printf("DEBUG: Transmit Packet %d\n\r", incoming_byte);
tnhnrl 73:f6f378311c8d 659 // }
tnhnrl 73:f6f378311c8d 660 // break;
tnhnrl 73:f6f378311c8d 661 //
tnhnrl 73:f6f378311c8d 662 // case TRANSMIT_PACKET_2:
tnhnrl 73:f6f378311c8d 663 //
tnhnrl 73:f6f378311c8d 664 // if (incoming_byte >= 0) {
tnhnrl 73:f6f378311c8d 665 // input_packet[3] = incoming_byte;
tnhnrl 73:f6f378311c8d 666 // //_reply_byte4 = incoming_byte;
tnhnrl 73:f6f378311c8d 667 // }
tnhnrl 73:f6f378311c8d 668 // transmit_state = PACKET_CRC_ONE;
tnhnrl 73:f6f378311c8d 669 //
tnhnrl 73:f6f378311c8d 670 // break;
tnhnrl 73:f6f378311c8d 671 //
tnhnrl 73:f6f378311c8d 672 // case (PACKET_CRC_ONE):
tnhnrl 73:f6f378311c8d 673 // transmit_crc_one = calcCrcOneArray(input_packet, 4); //calc CRC 1 from the input packet (size 4)
tnhnrl 73:f6f378311c8d 674 //
tnhnrl 73:f6f378311c8d 675 // if (incoming_byte == transmit_crc_one) {
tnhnrl 73:f6f378311c8d 676 // transmit_state = PACKET_CRC_TWO;
tnhnrl 73:f6f378311c8d 677 // }
tnhnrl 73:f6f378311c8d 678 //
tnhnrl 73:f6f378311c8d 679 // else
tnhnrl 73:f6f378311c8d 680 // transmit_state = HEADER_117;
tnhnrl 73:f6f378311c8d 681 // //or state remains the same?
tnhnrl 73:f6f378311c8d 682 //
tnhnrl 73:f6f378311c8d 683 // break;
tnhnrl 73:f6f378311c8d 684 //
tnhnrl 73:f6f378311c8d 685 // case (PACKET_CRC_TWO):
tnhnrl 73:f6f378311c8d 686 // transmit_state = HEADER_117;
tnhnrl 73:f6f378311c8d 687 // transmit_crc_two = calcCrcTwoArray(input_packet, 4); //calc CRC 2 from the input packet (size 4)
tnhnrl 73:f6f378311c8d 688 //
tnhnrl 73:f6f378311c8d 689 // //check if CRC TWO is correct (then send full packet)
tnhnrl 73:f6f378311c8d 690 // if (incoming_byte == transmit_crc_two) {
tnhnrl 73:f6f378311c8d 691 // requested_packet_number = input_packet[2] * 256 + input_packet[3]; //compute the numbers 0 through 65535 with the two bytes
tnhnrl 73:f6f378311c8d 692 //
tnhnrl 73:f6f378311c8d 693 // //receive correct checksum, immediately send this packet
tnhnrl 73:f6f378311c8d 694 // transmitPacketNumber(requested_packet_number);
tnhnrl 73:f6f378311c8d 695 //
tnhnrl 73:f6f378311c8d 696 // //fseek(_fp, 0, SEEK_END); //reset _fp (this was causing errors with the other function)
tnhnrl 73:f6f378311c8d 697 // led3() = !led3();
tnhnrl 73:f6f378311c8d 698 //
tnhnrl 73:f6f378311c8d 699 // } //end of checksum (incoming_byte) if statement
tnhnrl 73:f6f378311c8d 700 //
tnhnrl 73:f6f378311c8d 701 // break;
tnhnrl 73:f6f378311c8d 702 // } //switch statement complete
tnhnrl 73:f6f378311c8d 703 // } //while statement complete
tnhnrl 62:d502889e74f1 704 }
tnhnrl 62:d502889e74f1 705
tnhnrl 62:d502889e74f1 706 int MbedLogger::readTransmitPacket() {
tnhnrl 62:d502889e74f1 707 _file_transmission = true;
tnhnrl 62:d502889e74f1 708 _file_transmission_state = 0;
tnhnrl 62:d502889e74f1 709
tnhnrl 62:d502889e74f1 710 //first check if you're receiving data, then read four bytes
tnhnrl 62:d502889e74f1 711
tnhnrl 62:d502889e74f1 712 int transmit_state = 0; //for state machine
tnhnrl 62:d502889e74f1 713
tnhnrl 62:d502889e74f1 714 int incoming_byte = -1;
tnhnrl 62:d502889e74f1 715
tnhnrl 62:d502889e74f1 716 int requested_packet_number = -1;
tnhnrl 62:d502889e74f1 717
tnhnrl 62:d502889e74f1 718 static int inside_while_loop = 1;
tnhnrl 62:d502889e74f1 719
tnhnrl 62:d502889e74f1 720 while (inside_while_loop) {
tnhnrl 74:d281aaef9766 721 if (xbee().readable()) { //don't rely on pc readable being open all the time
tnhnrl 62:d502889e74f1 722
tnhnrl 74:d281aaef9766 723 incoming_byte = xbee().getc();
tnhnrl 62:d502889e74f1 724
tnhnrl 62:d502889e74f1 725 switch(transmit_state) {
tnhnrl 62:d502889e74f1 726
tnhnrl 62:d502889e74f1 727 case (HEADER_117):
tnhnrl 62:d502889e74f1 728 //continue processing
tnhnrl 62:d502889e74f1 729 if (incoming_byte == 117){
tnhnrl 62:d502889e74f1 730 transmit_state = HEADER_101;
tnhnrl 62:d502889e74f1 731 }
tnhnrl 62:d502889e74f1 732 //end transmission
tnhnrl 62:d502889e74f1 733 else if (incoming_byte == 16) {
tnhnrl 62:d502889e74f1 734 transmit_state = END_TRANSMISSION;
tnhnrl 62:d502889e74f1 735 }
tnhnrl 62:d502889e74f1 736 else {
tnhnrl 62:d502889e74f1 737 transmit_state = HEADER_117;
tnhnrl 62:d502889e74f1 738 }
tnhnrl 62:d502889e74f1 739 break;
tnhnrl 62:d502889e74f1 740
tnhnrl 62:d502889e74f1 741 case (HEADER_101):
tnhnrl 62:d502889e74f1 742 if(incoming_byte == 101) {
tnhnrl 62:d502889e74f1 743 transmit_state = TRANSMIT_PACKET_1;
tnhnrl 62:d502889e74f1 744 }
tnhnrl 62:d502889e74f1 745 break;
tnhnrl 62:d502889e74f1 746
tnhnrl 62:d502889e74f1 747 case (TRANSMIT_PACKET_1):
tnhnrl 62:d502889e74f1 748 if (incoming_byte >= 0) {
tnhnrl 62:d502889e74f1 749 transmit_state = TRANSMIT_PACKET_2;
tnhnrl 62:d502889e74f1 750 _reply_byte3 = incoming_byte;
tnhnrl 62:d502889e74f1 751 }
tnhnrl 62:d502889e74f1 752 break;
tnhnrl 62:d502889e74f1 753
tnhnrl 62:d502889e74f1 754 case (TRANSMIT_PACKET_2):
tnhnrl 62:d502889e74f1 755 if (incoming_byte >= 0) {
tnhnrl 62:d502889e74f1 756 _reply_byte4 = incoming_byte;
tnhnrl 62:d502889e74f1 757 }
tnhnrl 62:d502889e74f1 758
tnhnrl 62:d502889e74f1 759 requested_packet_number = _reply_byte3 * 256 + _reply_byte4; //compute the numbers 0 through 65535 with the two bytes
tnhnrl 62:d502889e74f1 760
tnhnrl 62:d502889e74f1 761 if (requested_packet_number != _previous_reply_byte) { //CHANGE THE NAME TO SOMETHING NOT BYTE!
tnhnrl 62:d502889e74f1 762 //MUST SET THE PACKET NUMBER
tnhnrl 62:d502889e74f1 763 _packet_number = requested_packet_number;
tnhnrl 62:d502889e74f1 764
tnhnrl 62:d502889e74f1 765 readPacketInSeries();
tnhnrl 62:d502889e74f1 766 createDataPacket();
tnhnrl 62:d502889e74f1 767 _previous_reply_byte = requested_packet_number; //RECORD THIS BYTE to prevent new packets being created
tnhnrl 62:d502889e74f1 768 }
tnhnrl 62:d502889e74f1 769
tnhnrl 62:d502889e74f1 770 //continuously transmit current packet until it tells you to do the next packet (response from Python program)
tnhnrl 62:d502889e74f1 771 transmitDataPacket();
tnhnrl 62:d502889e74f1 772
tnhnrl 62:d502889e74f1 773 //TRANSMIT_PACKET_2
tnhnrl 62:d502889e74f1 774 inside_while_loop = 0; //exit the while loop with this
tnhnrl 74:d281aaef9766 775 xbee().printf("(TRANSMIT_PACKET_2)reached inside_while_loop = 0\n\r"); //DEBUG
tnhnrl 62:d502889e74f1 776 break;
tnhnrl 62:d502889e74f1 777 } //end of switch statement
tnhnrl 62:d502889e74f1 778 } //end of while loop
tnhnrl 62:d502889e74f1 779
tnhnrl 62:d502889e74f1 780 // else {
tnhnrl 74:d281aaef9766 781 // //xbee().printf("pc not readable \n\r");
tnhnrl 62:d502889e74f1 782 // }
tnhnrl 62:d502889e74f1 783 //
tnhnrl 62:d502889e74f1 784 }
tnhnrl 62:d502889e74f1 785
tnhnrl 62:d502889e74f1 786 //once you're outside of the while loop
tnhnrl 62:d502889e74f1 787 inside_while_loop = true; //for next iteration
tnhnrl 62:d502889e74f1 788
tnhnrl 74:d281aaef9766 789 xbee().printf("DEBUG: (readTransmitPacket) Outside of while loop\n\r");
tnhnrl 62:d502889e74f1 790 return false;
tnhnrl 62:d502889e74f1 791 }
tnhnrl 62:d502889e74f1 792
tnhnrl 73:f6f378311c8d 793 bool MbedLogger::endTransmitPacket() {
tnhnrl 73:f6f378311c8d 794
tnhnrl 73:f6f378311c8d 795 int incoming_byte;
tnhnrl 73:f6f378311c8d 796
tnhnrl 74:d281aaef9766 797 while (xbee().readable()) {
tnhnrl 74:d281aaef9766 798 incoming_byte = xbee().getc(); //get first byte
tnhnrl 73:f6f378311c8d 799
tnhnrl 73:f6f378311c8d 800 if (incoming_byte == 16) {
tnhnrl 74:d281aaef9766 801 incoming_byte = xbee().getc(); //get second byte
tnhnrl 73:f6f378311c8d 802 return true;
tnhnrl 73:f6f378311c8d 803 }
tnhnrl 73:f6f378311c8d 804 //quick and dirty
tnhnrl 73:f6f378311c8d 805
tnhnrl 73:f6f378311c8d 806 }
tnhnrl 73:f6f378311c8d 807
tnhnrl 73:f6f378311c8d 808 return false;
tnhnrl 73:f6f378311c8d 809 }
tnhnrl 73:f6f378311c8d 810
tnhnrl 62:d502889e74f1 811 void MbedLogger::reOpenLineReader() {
tnhnrl 62:d502889e74f1 812 //open a new one
tnhnrl 62:d502889e74f1 813 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 814
tnhnrl 62:d502889e74f1 815 _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
tnhnrl 62:d502889e74f1 816
tnhnrl 62:d502889e74f1 817 //check if this actually worked...
tnhnrl 62:d502889e74f1 818 if (!_fp) {
tnhnrl 74:d281aaef9766 819 xbee().printf("ERROR: Log file could not be opened\n\r");
tnhnrl 62:d502889e74f1 820 }
tnhnrl 62:d502889e74f1 821 else {
tnhnrl 74:d281aaef9766 822 xbee().printf("Current Log file (LOG000.csv) was opened.\n\r");
tnhnrl 62:d502889e74f1 823 }
tnhnrl 62:d502889e74f1 824 }
tnhnrl 62:d502889e74f1 825
tnhnrl 62:d502889e74f1 826 bool MbedLogger::openLineReader() {
tnhnrl 62:d502889e74f1 827 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 828
tnhnrl 62:d502889e74f1 829 _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
tnhnrl 62:d502889e74f1 830
tnhnrl 62:d502889e74f1 831 //check if this actually worked...
tnhnrl 62:d502889e74f1 832 if (!_fp) {
tnhnrl 74:d281aaef9766 833 //xbee().printf("ERROR: Log file could not be opened\n\r");
tnhnrl 62:d502889e74f1 834 return false;
tnhnrl 62:d502889e74f1 835 }
tnhnrl 62:d502889e74f1 836 else {
tnhnrl 74:d281aaef9766 837 //xbee().printf("Current Log file (LOG000.csv) was opened.\n\r");
tnhnrl 62:d502889e74f1 838 return true;
tnhnrl 62:d502889e74f1 839 }
tnhnrl 62:d502889e74f1 840 }
tnhnrl 62:d502889e74f1 841
tnhnrl 62:d502889e74f1 842 //VERIFIED THIS IS WORKING
tnhnrl 62:d502889e74f1 843 void MbedLogger::readPacketInSeries(){
tnhnrl 62:d502889e74f1 844 memset(&_line_buffer[0], 0, sizeof(_line_buffer)); //clear buffer each time, start at the address, fill with zeroes, go to the end of the char array
tnhnrl 62:d502889e74f1 845
tnhnrl 62:d502889e74f1 846 //read the current line in the file
tnhnrl 62:d502889e74f1 847 fgets(_line_buffer, 256, _fp); //reads the line of characters until you reach a newline character
tnhnrl 62:d502889e74f1 848
tnhnrl 62:d502889e74f1 849 //RECORD THE STRING LENGTH
tnhnrl 62:d502889e74f1 850 _current_line_length = strlen(_line_buffer);
tnhnrl 62:d502889e74f1 851 }
tnhnrl 62:d502889e74f1 852
tnhnrl 69:919ac8d7e023 853 int MbedLogger::getNumberOfPacketsInCurrentLog() {
tnhnrl 73:f6f378311c8d 854 //takes less than a second to complete, verified 7/24/2018
tnhnrl 73:f6f378311c8d 855
tnhnrl 73:f6f378311c8d 856 //open the file
tnhnrl 73:f6f378311c8d 857 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 73:f6f378311c8d 858 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 859
tnhnrl 73:f6f378311c8d 860 fseek(_fp, 0L, SEEK_END);
tnhnrl 73:f6f378311c8d 861
tnhnrl 73:f6f378311c8d 862 size_t size = ftell(_fp);
tnhnrl 62:d502889e74f1 863
tnhnrl 62:d502889e74f1 864 //move the FILE pointer back to the start
tnhnrl 62:d502889e74f1 865 fseek(_fp, 0, SEEK_SET); // SEEK_SET is the beginning of file
tnhnrl 62:d502889e74f1 866
tnhnrl 73:f6f378311c8d 867 _total_number_of_packets = size/254;
tnhnrl 69:919ac8d7e023 868
tnhnrl 74:d281aaef9766 869 //CLOSE THE FILE
tnhnrl 74:d281aaef9766 870 closeLogFile();
tnhnrl 74:d281aaef9766 871
tnhnrl 69:919ac8d7e023 872 return _total_number_of_packets;
tnhnrl 62:d502889e74f1 873 }
tnhnrl 62:d502889e74f1 874
tnhnrl 62:d502889e74f1 875 void MbedLogger::endTransmissionCloseFile() {
tnhnrl 62:d502889e74f1 876 // if the file pointer is null, the file was not opened in the first place
tnhnrl 62:d502889e74f1 877 if (!_fp) {
tnhnrl 74:d281aaef9766 878 xbee().printf("\n endTransmissionCloseFile: FILE WAS NOT OPENED!\n\r");
tnhnrl 62:d502889e74f1 879 }
tnhnrl 62:d502889e74f1 880 else {
tnhnrl 74:d281aaef9766 881 xbee().printf("\n endTransmissionCloseFile: FILE FOUND AND CLOSED!\n\r");
tnhnrl 62:d502889e74f1 882 closeLogFile();
tnhnrl 62:d502889e74f1 883 }
tnhnrl 62:d502889e74f1 884
tnhnrl 62:d502889e74f1 885 _file_transmission = false;
tnhnrl 62:d502889e74f1 886 }
tnhnrl 62:d502889e74f1 887
tnhnrl 62:d502889e74f1 888 void MbedLogger::openWriteFile() {
tnhnrl 74:d281aaef9766 889 xbee().printf("Opening file for reception.\n\r");
tnhnrl 62:d502889e74f1 890
tnhnrl 62:d502889e74f1 891 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 892
tnhnrl 62:d502889e74f1 893 _fp = fopen(file_name_string.c_str(), "w");
tnhnrl 62:d502889e74f1 894 }
tnhnrl 62:d502889e74f1 895
tnhnrl 62:d502889e74f1 896
tnhnrl 62:d502889e74f1 897 //weird bug noticed on 5/25/2018 where if you're not sending data the function is not completing
tnhnrl 62:d502889e74f1 898
tnhnrl 62:d502889e74f1 899
tnhnrl 62:d502889e74f1 900
tnhnrl 62:d502889e74f1 901
tnhnrl 62:d502889e74f1 902 // function checks for incoming data (receiver function) from a Python program that transmits a file
tnhnrl 62:d502889e74f1 903 // current limit is a file that has 255 lines of data
tnhnrl 68:8f549749b8ce 904 bool MbedLogger::checkForIncomingData() {
tnhnrl 62:d502889e74f1 905 int receive_packet_number;
tnhnrl 62:d502889e74f1 906 int receive_total_number_packets;
tnhnrl 62:d502889e74f1 907 int receive_packet_size;
tnhnrl 62:d502889e74f1 908
tnhnrl 62:d502889e74f1 909 bool data_transmission_complete = false;
tnhnrl 62:d502889e74f1 910
tnhnrl 62:d502889e74f1 911 int incoming_byte;
tnhnrl 62:d502889e74f1 912
tnhnrl 62:d502889e74f1 913 char char_buffer[256] = {}; //create empty buffer
tnhnrl 62:d502889e74f1 914
tnhnrl 62:d502889e74f1 915 //starting state
tnhnrl 62:d502889e74f1 916 int process_state = HEADER_117;
tnhnrl 62:d502889e74f1 917
tnhnrl 62:d502889e74f1 918 //variables for processing data below
tnhnrl 62:d502889e74f1 919 int checksum_one = -1;
tnhnrl 62:d502889e74f1 920 int checksum_two = -1;
tnhnrl 62:d502889e74f1 921
tnhnrl 62:d502889e74f1 922 int i = 5;
tnhnrl 62:d502889e74f1 923 int serial_timeout = 0;
tnhnrl 62:d502889e74f1 924
tnhnrl 74:d281aaef9766 925 while (xbee().readable() && !data_transmission_complete) {
tnhnrl 74:d281aaef9766 926 incoming_byte = xbee().getc(); //getc returns an unsigned char cast to an int
tnhnrl 74:d281aaef9766 927 //xbee().printf("DEBUG: State 0\n\r");
tnhnrl 62:d502889e74f1 928
tnhnrl 62:d502889e74f1 929 switch(process_state) {
tnhnrl 62:d502889e74f1 930 case HEADER_117:
tnhnrl 62:d502889e74f1 931 //continue processing
tnhnrl 62:d502889e74f1 932 if (incoming_byte == 117){
tnhnrl 62:d502889e74f1 933 process_state = HEADER_101;
tnhnrl 74:d281aaef9766 934 //xbee().printf("DEBUG: Case 117\n\r");
tnhnrl 62:d502889e74f1 935 }
tnhnrl 62:d502889e74f1 936 //end transmission
tnhnrl 62:d502889e74f1 937 else if (incoming_byte == 16) {
tnhnrl 62:d502889e74f1 938 process_state = END_TRANSMISSION;
tnhnrl 74:d281aaef9766 939 //xbee().printf("DEBUG: State 16 (END_TRANSMISSION)\n\r");
tnhnrl 62:d502889e74f1 940 }
tnhnrl 62:d502889e74f1 941 else {
tnhnrl 62:d502889e74f1 942 process_state = HEADER_117; // ???
tnhnrl 74:d281aaef9766 943 //xbee().printf("DEBUG: State Header 117\n\r");
tnhnrl 62:d502889e74f1 944 }
tnhnrl 62:d502889e74f1 945 break;
tnhnrl 62:d502889e74f1 946
tnhnrl 62:d502889e74f1 947 case HEADER_101:
tnhnrl 62:d502889e74f1 948 if(incoming_byte == 101) {
tnhnrl 62:d502889e74f1 949 process_state = PACKET_NUM;
tnhnrl 74:d281aaef9766 950 //xbee().printf("DEBUG: Case 101\n\r");
tnhnrl 62:d502889e74f1 951 }
tnhnrl 62:d502889e74f1 952 break;
tnhnrl 62:d502889e74f1 953
tnhnrl 62:d502889e74f1 954 case PACKET_NUM:
tnhnrl 62:d502889e74f1 955 receive_packet_number = incoming_byte;
tnhnrl 62:d502889e74f1 956 process_state = TOTAL_NUM_PACKETS;
tnhnrl 74:d281aaef9766 957 //xbee().printf("DEBUG: Case PACKET_NUM\n\r");
tnhnrl 62:d502889e74f1 958 break;
tnhnrl 62:d502889e74f1 959
tnhnrl 62:d502889e74f1 960 case TOTAL_NUM_PACKETS:
tnhnrl 62:d502889e74f1 961 receive_total_number_packets = incoming_byte;
tnhnrl 62:d502889e74f1 962 process_state = PACKET_SIZE;
tnhnrl 74:d281aaef9766 963 //xbee().printf("DEBUG: Case TOTAL_NUM_PACKETS\n\r");
tnhnrl 62:d502889e74f1 964 break;
tnhnrl 62:d502889e74f1 965
tnhnrl 62:d502889e74f1 966 case PACKET_SIZE:
tnhnrl 62:d502889e74f1 967 receive_packet_size = incoming_byte;
tnhnrl 74:d281aaef9766 968 //xbee().printf("DEBUG: Case PACKET_SIZE\n\r");
tnhnrl 62:d502889e74f1 969
tnhnrl 62:d502889e74f1 970 //write the header stuff to it
tnhnrl 62:d502889e74f1 971 char_buffer[0] = 117;
tnhnrl 62:d502889e74f1 972 char_buffer[1] = 101;
tnhnrl 62:d502889e74f1 973 char_buffer[2] = receive_packet_number;
tnhnrl 62:d502889e74f1 974 char_buffer[3] = receive_total_number_packets;
tnhnrl 62:d502889e74f1 975 char_buffer[4] = receive_packet_size;
tnhnrl 62:d502889e74f1 976
tnhnrl 62:d502889e74f1 977 // tests confirmed that packet number is zero, number of packets is 12, packet size is 12
tnhnrl 74:d281aaef9766 978 //xbee().printf("char_buffer 2/3/4: %d %d %d\n\r", receive_packet_number,receive_total_number_packets,receive_packet_size);
tnhnrl 68:8f549749b8ce 979
tnhnrl 62:d502889e74f1 980 //process packet data, future version will append for larger data sizes, 0xFFFF
tnhnrl 62:d502889e74f1 981
tnhnrl 62:d502889e74f1 982 // IF YOU GET AN INTERRUPTED DATA STREAM YOU NEED TO BREAK OUT OF THE LOOP
tnhnrl 62:d502889e74f1 983 i = 5;
tnhnrl 62:d502889e74f1 984 serial_timeout = 0;
tnhnrl 62:d502889e74f1 985
tnhnrl 62:d502889e74f1 986 while (true) {
tnhnrl 74:d281aaef9766 987 if (xbee().readable()) {
tnhnrl 74:d281aaef9766 988 char_buffer[i] = xbee().getc(); //read all of the data packets
tnhnrl 62:d502889e74f1 989 i++;
tnhnrl 62:d502889e74f1 990
tnhnrl 62:d502889e74f1 991 serial_timeout = 0; //reset the timeout
tnhnrl 62:d502889e74f1 992 }
tnhnrl 62:d502889e74f1 993 else {
tnhnrl 62:d502889e74f1 994 serial_timeout++;
tnhnrl 62:d502889e74f1 995 }
tnhnrl 62:d502889e74f1 996
tnhnrl 62:d502889e74f1 997 // When full data packet is received...
tnhnrl 62:d502889e74f1 998 if (i >= receive_packet_size+5) { //cannot do this properly with a for loop
tnhnrl 62:d502889e74f1 999 //get checksum bytes
tnhnrl 74:d281aaef9766 1000 checksum_one = xbee().getc();
tnhnrl 74:d281aaef9766 1001 checksum_two = xbee().getc();
tnhnrl 62:d502889e74f1 1002
tnhnrl 62:d502889e74f1 1003 //calculate the CRC from the header and data bytes using _data_packet (vector)
tnhnrl 62:d502889e74f1 1004 //found out calculating crc with string was dropping empty or null spaces
tnhnrl 62:d502889e74f1 1005 _data_packet.clear(); //clear it just in case
tnhnrl 62:d502889e74f1 1006
tnhnrl 62:d502889e74f1 1007 for (int a = 0; a < receive_packet_size+5; a++) {
tnhnrl 62:d502889e74f1 1008 _data_packet.push_back(char_buffer[a]); //push the character array into the buffer
tnhnrl 62:d502889e74f1 1009 }
tnhnrl 62:d502889e74f1 1010
tnhnrl 62:d502889e74f1 1011 //calculate the CRC using the vector (strings will cut off null characters)
tnhnrl 62:d502889e74f1 1012 int calc_crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 1013 int calc_crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 1014
tnhnrl 74:d281aaef9766 1015 //xbee().printf("DEBUG: calc crc 1: %d, crc 2: %d\n\r", calc_crc_one, calc_crc_two);
tnhnrl 62:d502889e74f1 1016
tnhnrl 62:d502889e74f1 1017 // first confirm that the checksum is correct
tnhnrl 74:d281aaef9766 1018 if ((calc_crc_one == checksum_one) and (calc_crc_two == checksum_two)) {
tnhnrl 74:d281aaef9766 1019
tnhnrl 74:d281aaef9766 1020 //xbee().printf("DEBUG: checksums are good!\n\r");
tnhnrl 74:d281aaef9766 1021
tnhnrl 74:d281aaef9766 1022 //xbee().printf("receive_packet_number %d and _confirmed_packet_number %d\n\r", receive_packet_number, _confirmed_packet_number); //debug
tnhnrl 74:d281aaef9766 1023
tnhnrl 74:d281aaef9766 1024 // // CHECKSUM CORRECT & get the filename from the first packet (check that you receive first packet)
tnhnrl 74:d281aaef9766 1025 // if (receive_packet_number == 0) {
tnhnrl 74:d281aaef9766 1026 // char temp_char[receive_packet_size+1]; //temp array for memcpy
tnhnrl 74:d281aaef9766 1027 // memset(&temp_char[0], 0, sizeof(temp_char)); //clear full array (or get random characters)
tnhnrl 74:d281aaef9766 1028 // strncpy(temp_char, char_buffer + 5 /* Offset */, receive_packet_size*sizeof(char) /* Length */); //memcpy introduced random characters
tnhnrl 74:d281aaef9766 1029 //
tnhnrl 74:d281aaef9766 1030 // //xbee().printf("SEQUENCE: <<%s>>\n\r", temp_char]) // ERASE
tnhnrl 74:d281aaef9766 1031 //
tnhnrl 74:d281aaef9766 1032 // //have to terminate the string with '\0'
tnhnrl 74:d281aaef9766 1033 // temp_char[receive_packet_size] = '\0';
tnhnrl 74:d281aaef9766 1034 //
tnhnrl 74:d281aaef9766 1035 // //xbee().printf("\n\rDEBUG: ------ Filename? <<%s>>\n\r", temp_char);
tnhnrl 74:d281aaef9766 1036 // //_received_filename = temp_char;
tnhnrl 74:d281aaef9766 1037 //
tnhnrl 74:d281aaef9766 1038 // //xbee().printf("\n\rDEBUG: _received_filename <<%s>>\n\r", _received_filename);
tnhnrl 74:d281aaef9766 1039 //
tnhnrl 74:d281aaef9766 1040 // //open a file for writing
tnhnrl 74:d281aaef9766 1041 // //openReceiveFile(_received_filename);
tnhnrl 74:d281aaef9766 1042 //
tnhnrl 74:d281aaef9766 1043 // //send a reply to Python transmit program
tnhnrl 74:d281aaef9766 1044 // sendReply();
tnhnrl 74:d281aaef9766 1045 //
tnhnrl 74:d281aaef9766 1046 // led3() = 1;
tnhnrl 74:d281aaef9766 1047 //
tnhnrl 74:d281aaef9766 1048 // // even if correct CRC, counter prevents the program from writing the same packet twice
tnhnrl 74:d281aaef9766 1049 // _confirmed_packet_number++;
tnhnrl 74:d281aaef9766 1050 // }
tnhnrl 62:d502889e74f1 1051
tnhnrl 62:d502889e74f1 1052 // check if the packet that you're receiving (receive_packet_number) has been received already...
tnhnrl 62:d502889e74f1 1053
tnhnrl 62:d502889e74f1 1054 //CHECKSUM CORRECT & packet numbers that are 1 through N packets
tnhnrl 74:d281aaef9766 1055 if (receive_packet_number == _confirmed_packet_number){
tnhnrl 62:d502889e74f1 1056 //save the data (char buffer) to the file if both checksums work...
tnhnrl 62:d502889e74f1 1057
tnhnrl 62:d502889e74f1 1058 // when a packet is received (successfully) send a reply
tnhnrl 74:d281aaef9766 1059 //sendReply();
tnhnrl 62:d502889e74f1 1060
tnhnrl 62:d502889e74f1 1061 // write correct data to file
tnhnrl 62:d502889e74f1 1062 fprintf(_fp, "%s", char_buffer+5);
tnhnrl 62:d502889e74f1 1063
tnhnrl 62:d502889e74f1 1064 // even if correct CRC, counter prevents the program from writing the same packet twice
tnhnrl 62:d502889e74f1 1065 _confirmed_packet_number++;
tnhnrl 62:d502889e74f1 1066 }
tnhnrl 62:d502889e74f1 1067
tnhnrl 62:d502889e74f1 1068 //clear the variables
tnhnrl 62:d502889e74f1 1069 checksum_one = -1;
tnhnrl 62:d502889e74f1 1070 checksum_two = -1;
tnhnrl 62:d502889e74f1 1071 }
tnhnrl 62:d502889e74f1 1072
tnhnrl 62:d502889e74f1 1073 process_state = HEADER_117;
tnhnrl 62:d502889e74f1 1074
tnhnrl 62:d502889e74f1 1075 break;
tnhnrl 62:d502889e74f1 1076 }
tnhnrl 62:d502889e74f1 1077
tnhnrl 74:d281aaef9766 1078 // //counter breaks out of the loop if no data received
tnhnrl 74:d281aaef9766 1079 // if (serial_timeout >= 10000) {
tnhnrl 74:d281aaef9766 1080 // //xbee().printf("break serial_timeout %d\n\r", serial_timeout);
tnhnrl 74:d281aaef9766 1081 // break;
tnhnrl 74:d281aaef9766 1082 // }
tnhnrl 62:d502889e74f1 1083 }
tnhnrl 62:d502889e74f1 1084 break;
tnhnrl 62:d502889e74f1 1085
tnhnrl 62:d502889e74f1 1086 case END_TRANSMISSION:
tnhnrl 74:d281aaef9766 1087 if (xbee().getc() == 16) {
tnhnrl 74:d281aaef9766 1088 //xbee().printf("DEBUG: END_TRANSMISSION REACHED: 1. \n\r");
tnhnrl 62:d502889e74f1 1089
tnhnrl 74:d281aaef9766 1090 if (xbee().getc() == 16) {
tnhnrl 74:d281aaef9766 1091 //xbee().printf("DEBUG: END_TRANSMISSION REACHED: 2. \n\r");
tnhnrl 62:d502889e74f1 1092
tnhnrl 74:d281aaef9766 1093 _end_sequence_transmission = true;
tnhnrl 74:d281aaef9766 1094 //endReceiveData();
tnhnrl 62:d502889e74f1 1095 }
tnhnrl 62:d502889e74f1 1096 }
tnhnrl 62:d502889e74f1 1097
tnhnrl 74:d281aaef9766 1098 //xbee().printf("DEBUG: END_TRANSMISSION REACHED: 5. \n\r");
tnhnrl 62:d502889e74f1 1099
tnhnrl 62:d502889e74f1 1100 //process_state = HEADER_117; //don't do this unless the check is wrong
tnhnrl 74:d281aaef9766 1101 //xbee().printf("END_TRANSMISSION process_state is %d\n\r", process_state); //should be 5 (debug) 02/06/2018
tnhnrl 62:d502889e74f1 1102 data_transmission_complete = true;
tnhnrl 62:d502889e74f1 1103 break;
tnhnrl 62:d502889e74f1 1104 }//END OF SWITCH
tnhnrl 62:d502889e74f1 1105
tnhnrl 62:d502889e74f1 1106 if (data_transmission_complete) {
tnhnrl 74:d281aaef9766 1107 //xbee().printf("DEBUG: checkForIncomingData data_transmission_complete \n\r");
tnhnrl 62:d502889e74f1 1108 break; //out of while loop
tnhnrl 62:d502889e74f1 1109 }
tnhnrl 62:d502889e74f1 1110 } // while loop
tnhnrl 62:d502889e74f1 1111
tnhnrl 62:d502889e74f1 1112 led3() = !led3();
tnhnrl 62:d502889e74f1 1113
tnhnrl 62:d502889e74f1 1114 if (data_transmission_complete)
tnhnrl 62:d502889e74f1 1115 return false; //tell state machine class that this is done (not transmitting, false)
tnhnrl 62:d502889e74f1 1116 else {
tnhnrl 62:d502889e74f1 1117 return true;
tnhnrl 62:d502889e74f1 1118 }
tnhnrl 62:d502889e74f1 1119 }
tnhnrl 62:d502889e74f1 1120
tnhnrl 62:d502889e74f1 1121 int MbedLogger::sendReply() {
tnhnrl 62:d502889e74f1 1122 //being explicit in what's being transmitted
tnhnrl 62:d502889e74f1 1123
tnhnrl 62:d502889e74f1 1124 //change this method to be more explicit later
tnhnrl 62:d502889e74f1 1125
tnhnrl 62:d502889e74f1 1126 //integer vector _data_packet is used here, cleared fist just in case
tnhnrl 62:d502889e74f1 1127
tnhnrl 62:d502889e74f1 1128 _data_packet.clear(); //same data packet for transmission
tnhnrl 62:d502889e74f1 1129 _data_packet.push_back(117);
tnhnrl 62:d502889e74f1 1130 _data_packet.push_back(101);
tnhnrl 62:d502889e74f1 1131
tnhnrl 62:d502889e74f1 1132 //_confirmed_packet_number comes from the packet number that is sent from the Python program
tnhnrl 62:d502889e74f1 1133 _data_packet.push_back(_confirmed_packet_number / 256); //packet number only changed when confirmed
tnhnrl 62:d502889e74f1 1134 _data_packet.push_back(_confirmed_packet_number % 256); //split into first and second byte
tnhnrl 62:d502889e74f1 1135
tnhnrl 62:d502889e74f1 1136 //compute checksums
tnhnrl 62:d502889e74f1 1137
tnhnrl 62:d502889e74f1 1138 int receiver_crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 1139 int receiver_crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 1140
tnhnrl 62:d502889e74f1 1141 _data_packet.push_back(receiver_crc_one);
tnhnrl 62:d502889e74f1 1142 _data_packet.push_back(receiver_crc_two);
tnhnrl 62:d502889e74f1 1143
tnhnrl 62:d502889e74f1 1144 //transmit this packet
tnhnrl 62:d502889e74f1 1145 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++) {
tnhnrl 74:d281aaef9766 1146 xbee().putc(*_it); //send integers over serial port one byte at a time
tnhnrl 62:d502889e74f1 1147 }
tnhnrl 62:d502889e74f1 1148
tnhnrl 62:d502889e74f1 1149 //change process methodology later...
tnhnrl 62:d502889e74f1 1150
tnhnrl 62:d502889e74f1 1151 return _confirmed_packet_number;
tnhnrl 62:d502889e74f1 1152 }
tnhnrl 62:d502889e74f1 1153
tnhnrl 62:d502889e74f1 1154 void MbedLogger::endReceiveData() { //DLE character * 4 ==> 10 10 10 10
tnhnrl 62:d502889e74f1 1155 closeLogFile(); //close the file here
tnhnrl 74:d281aaef9766 1156 xbee().printf("endReceiveData closed the file and ended transmission\n\r");
tnhnrl 62:d502889e74f1 1157 }
tnhnrl 62:d502889e74f1 1158
tnhnrl 62:d502889e74f1 1159 //calculate the crc with an integer array
tnhnrl 62:d502889e74f1 1160 int MbedLogger::calcCrcOneArray(int *input_array, int array_length) {
tnhnrl 62:d502889e74f1 1161 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 1162 int crc_table [256] = {0, 49345, 49537, 320, 49921, 960, 640, 49729, 50689, 1728, 1920, 51009, 1280, 50625, 50305, 1088, 52225, 3264, 3456, 52545, 3840, 53185, 52865, 3648, 2560, 51905, 52097, 2880, 51457, 2496, 2176, 51265, 55297, 6336, 6528, 55617, 6912, 56257, 55937, 6720, 7680, 57025, 57217, 8000, 56577, 7616, 7296, 56385, 5120, 54465, 54657, 5440, 55041, 6080, 5760, 54849, 53761, 4800, 4992, 54081, 4352, 53697, 53377, 4160, 61441, 12480, 12672, 61761, 13056, 62401, 62081, 12864, 13824, 63169, 63361, 14144, 62721, 13760, 13440, 62529, 15360, 64705, 64897, 15680, 65281, 16320, 16000, 65089, 64001, 15040, 15232, 64321, 14592, 63937, 63617, 14400, 10240, 59585, 59777, 10560, 60161, 11200, 10880, 59969, 60929, 11968, 12160, 61249, 11520, 60865, 60545, 11328, 58369, 9408, 9600, 58689, 9984, 59329, 59009, 9792, 8704, 58049, 58241, 9024, 57601, 8640, 8320, 57409, 40961, 24768, 24960, 41281, 25344, 41921, 41601, 25152, 26112, 42689, 42881, 26432, 42241, 26048, 25728, 42049, 27648, 44225, 44417, 27968, 44801, 28608, 28288, 44609, 43521, 27328, 27520, 43841, 26880, 43457, 43137, 26688, 30720, 47297, 47489, 31040, 47873, 31680, 31360, 47681, 48641, 32448, 32640, 48961, 32000, 48577, 48257, 31808, 46081, 29888, 30080, 46401, 30464, 47041, 46721, 30272, 29184, 45761, 45953, 29504, 45313, 29120, 28800, 45121, 20480, 37057, 37249, 20800, 37633, 21440, 21120, 37441, 38401, 22208, 22400, 38721, 21760, 38337, 38017, 21568, 39937, 23744, 23936, 40257, 24320, 40897, 40577, 24128, 23040, 39617, 39809, 23360, 39169, 22976, 22656, 38977, 34817, 18624, 18816, 35137, 19200, 35777, 35457, 19008, 19968, 36545, 36737, 20288, 36097, 19904, 19584, 35905, 17408, 33985, 34177, 17728, 34561, 18368, 18048, 34369, 33281, 17088, 17280, 33601, 16640, 33217, 32897, 16448};
tnhnrl 62:d502889e74f1 1163 int crc = 0;
tnhnrl 62:d502889e74f1 1164 for (int z = 0; z < array_length; z++) {
tnhnrl 62:d502889e74f1 1165 crc = (crc_table[(input_array[z] ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1166 }
tnhnrl 62:d502889e74f1 1167 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1168 }
tnhnrl 62:d502889e74f1 1169
tnhnrl 62:d502889e74f1 1170 int MbedLogger::calcCrcTwoArray(int *input_array, int array_length) {
tnhnrl 62:d502889e74f1 1171 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 1172 int crc_table [256] = {0, 49345, 49537, 320, 49921, 960, 640, 49729, 50689, 1728, 1920, 51009, 1280, 50625, 50305, 1088, 52225, 3264, 3456, 52545, 3840, 53185, 52865, 3648, 2560, 51905, 52097, 2880, 51457, 2496, 2176, 51265, 55297, 6336, 6528, 55617, 6912, 56257, 55937, 6720, 7680, 57025, 57217, 8000, 56577, 7616, 7296, 56385, 5120, 54465, 54657, 5440, 55041, 6080, 5760, 54849, 53761, 4800, 4992, 54081, 4352, 53697, 53377, 4160, 61441, 12480, 12672, 61761, 13056, 62401, 62081, 12864, 13824, 63169, 63361, 14144, 62721, 13760, 13440, 62529, 15360, 64705, 64897, 15680, 65281, 16320, 16000, 65089, 64001, 15040, 15232, 64321, 14592, 63937, 63617, 14400, 10240, 59585, 59777, 10560, 60161, 11200, 10880, 59969, 60929, 11968, 12160, 61249, 11520, 60865, 60545, 11328, 58369, 9408, 9600, 58689, 9984, 59329, 59009, 9792, 8704, 58049, 58241, 9024, 57601, 8640, 8320, 57409, 40961, 24768, 24960, 41281, 25344, 41921, 41601, 25152, 26112, 42689, 42881, 26432, 42241, 26048, 25728, 42049, 27648, 44225, 44417, 27968, 44801, 28608, 28288, 44609, 43521, 27328, 27520, 43841, 26880, 43457, 43137, 26688, 30720, 47297, 47489, 31040, 47873, 31680, 31360, 47681, 48641, 32448, 32640, 48961, 32000, 48577, 48257, 31808, 46081, 29888, 30080, 46401, 30464, 47041, 46721, 30272, 29184, 45761, 45953, 29504, 45313, 29120, 28800, 45121, 20480, 37057, 37249, 20800, 37633, 21440, 21120, 37441, 38401, 22208, 22400, 38721, 21760, 38337, 38017, 21568, 39937, 23744, 23936, 40257, 24320, 40897, 40577, 24128, 23040, 39617, 39809, 23360, 39169, 22976, 22656, 38977, 34817, 18624, 18816, 35137, 19200, 35777, 35457, 19008, 19968, 36545, 36737, 20288, 36097, 19904, 19584, 35905, 17408, 33985, 34177, 17728, 34561, 18368, 18048, 34369, 33281, 17088, 17280, 33601, 16640, 33217, 32897, 16448};
tnhnrl 62:d502889e74f1 1173 int crc = 0;
tnhnrl 62:d502889e74f1 1174 for (int z = 0; z < array_length; z++) {
tnhnrl 62:d502889e74f1 1175 crc = (crc_table[(input_array[z] ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1176 }
tnhnrl 62:d502889e74f1 1177 return crc % 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1178 }
tnhnrl 62:d502889e74f1 1179
tnhnrl 62:d502889e74f1 1180 int MbedLogger::calcCrcOne() {
tnhnrl 62:d502889e74f1 1181 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 1182 int crc_table [256] = {0, 49345, 49537, 320, 49921, 960, 640, 49729, 50689, 1728, 1920, 51009, 1280, 50625, 50305, 1088, 52225, 3264, 3456, 52545, 3840, 53185, 52865, 3648, 2560, 51905, 52097, 2880, 51457, 2496, 2176, 51265, 55297, 6336, 6528, 55617, 6912, 56257, 55937, 6720, 7680, 57025, 57217, 8000, 56577, 7616, 7296, 56385, 5120, 54465, 54657, 5440, 55041, 6080, 5760, 54849, 53761, 4800, 4992, 54081, 4352, 53697, 53377, 4160, 61441, 12480, 12672, 61761, 13056, 62401, 62081, 12864, 13824, 63169, 63361, 14144, 62721, 13760, 13440, 62529, 15360, 64705, 64897, 15680, 65281, 16320, 16000, 65089, 64001, 15040, 15232, 64321, 14592, 63937, 63617, 14400, 10240, 59585, 59777, 10560, 60161, 11200, 10880, 59969, 60929, 11968, 12160, 61249, 11520, 60865, 60545, 11328, 58369, 9408, 9600, 58689, 9984, 59329, 59009, 9792, 8704, 58049, 58241, 9024, 57601, 8640, 8320, 57409, 40961, 24768, 24960, 41281, 25344, 41921, 41601, 25152, 26112, 42689, 42881, 26432, 42241, 26048, 25728, 42049, 27648, 44225, 44417, 27968, 44801, 28608, 28288, 44609, 43521, 27328, 27520, 43841, 26880, 43457, 43137, 26688, 30720, 47297, 47489, 31040, 47873, 31680, 31360, 47681, 48641, 32448, 32640, 48961, 32000, 48577, 48257, 31808, 46081, 29888, 30080, 46401, 30464, 47041, 46721, 30272, 29184, 45761, 45953, 29504, 45313, 29120, 28800, 45121, 20480, 37057, 37249, 20800, 37633, 21440, 21120, 37441, 38401, 22208, 22400, 38721, 21760, 38337, 38017, 21568, 39937, 23744, 23936, 40257, 24320, 40897, 40577, 24128, 23040, 39617, 39809, 23360, 39169, 22976, 22656, 38977, 34817, 18624, 18816, 35137, 19200, 35777, 35457, 19008, 19968, 36545, 36737, 20288, 36097, 19904, 19584, 35905, 17408, 33985, 34177, 17728, 34561, 18368, 18048, 34369, 33281, 17088, 17280, 33601, 16640, 33217, 32897, 16448};
tnhnrl 62:d502889e74f1 1183
tnhnrl 62:d502889e74f1 1184 int crc = 0;
tnhnrl 62:d502889e74f1 1185 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++)
tnhnrl 62:d502889e74f1 1186 crc = (crc_table[(*_it ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1187
tnhnrl 62:d502889e74f1 1188 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1189 }
tnhnrl 62:d502889e74f1 1190
tnhnrl 62:d502889e74f1 1191 int MbedLogger::calcCrcTwo() {
tnhnrl 62:d502889e74f1 1192 int crc_table [256] = {0, 49345, 49537, 320, 49921, 960, 640, 49729, 50689, 1728, 1920, 51009, 1280, 50625, 50305, 1088, 52225, 3264, 3456, 52545, 3840, 53185, 52865, 3648, 2560, 51905, 52097, 2880, 51457, 2496, 2176, 51265, 55297, 6336, 6528, 55617, 6912, 56257, 55937, 6720, 7680, 57025, 57217, 8000, 56577, 7616, 7296, 56385, 5120, 54465, 54657, 5440, 55041, 6080, 5760, 54849, 53761, 4800, 4992, 54081, 4352, 53697, 53377, 4160, 61441, 12480, 12672, 61761, 13056, 62401, 62081, 12864, 13824, 63169, 63361, 14144, 62721, 13760, 13440, 62529, 15360, 64705, 64897, 15680, 65281, 16320, 16000, 65089, 64001, 15040, 15232, 64321, 14592, 63937, 63617, 14400, 10240, 59585, 59777, 10560, 60161, 11200, 10880, 59969, 60929, 11968, 12160, 61249, 11520, 60865, 60545, 11328, 58369, 9408, 9600, 58689, 9984, 59329, 59009, 9792, 8704, 58049, 58241, 9024, 57601, 8640, 8320, 57409, 40961, 24768, 24960, 41281, 25344, 41921, 41601, 25152, 26112, 42689, 42881, 26432, 42241, 26048, 25728, 42049, 27648, 44225, 44417, 27968, 44801, 28608, 28288, 44609, 43521, 27328, 27520, 43841, 26880, 43457, 43137, 26688, 30720, 47297, 47489, 31040, 47873, 31680, 31360, 47681, 48641, 32448, 32640, 48961, 32000, 48577, 48257, 31808, 46081, 29888, 30080, 46401, 30464, 47041, 46721, 30272, 29184, 45761, 45953, 29504, 45313, 29120, 28800, 45121, 20480, 37057, 37249, 20800, 37633, 21440, 21120, 37441, 38401, 22208, 22400, 38721, 21760, 38337, 38017, 21568, 39937, 23744, 23936, 40257, 24320, 40897, 40577, 24128, 23040, 39617, 39809, 23360, 39169, 22976, 22656, 38977, 34817, 18624, 18816, 35137, 19200, 35777, 35457, 19008, 19968, 36545, 36737, 20288, 36097, 19904, 19584, 35905, 17408, 33985, 34177, 17728, 34561, 18368, 18048, 34369, 33281, 17088, 17280, 33601, 16640, 33217, 32897, 16448};
tnhnrl 62:d502889e74f1 1193
tnhnrl 62:d502889e74f1 1194 int crc = 0;
tnhnrl 62:d502889e74f1 1195 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++)
tnhnrl 62:d502889e74f1 1196 crc = (crc_table[(*_it ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1197
tnhnrl 74:d281aaef9766 1198 //xbee().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_array.length(), crc % 256);
tnhnrl 62:d502889e74f1 1199
tnhnrl 62:d502889e74f1 1200 return crc % 256; //last byte
tnhnrl 62:d502889e74f1 1201 }
tnhnrl 62:d502889e74f1 1202
tnhnrl 62:d502889e74f1 1203 void MbedLogger::resetReplyPacket() {
tnhnrl 62:d502889e74f1 1204 _confirmed_packet_number = 0;
tnhnrl 62:d502889e74f1 1205 }
tnhnrl 62:d502889e74f1 1206
tnhnrl 62:d502889e74f1 1207 void MbedLogger::openNewMissionFile() {
tnhnrl 74:d281aaef9766 1208 xbee().printf("Opening Mission file (sequence.txt) for reception.\n\r");
tnhnrl 62:d502889e74f1 1209 string filename_string = _file_system_string + "sequence.txt";
tnhnrl 62:d502889e74f1 1210
tnhnrl 74:d281aaef9766 1211 xbee().printf("openNewMissionFile: %s\n\r", filename_string.c_str());
tnhnrl 62:d502889e74f1 1212
tnhnrl 62:d502889e74f1 1213 _fp = fopen(filename_string.c_str(), "w");
tnhnrl 62:d502889e74f1 1214 }
tnhnrl 62:d502889e74f1 1215
tnhnrl 62:d502889e74f1 1216 void MbedLogger::openReceiveFile(string filename) {
tnhnrl 62:d502889e74f1 1217 string filename_string = _file_system_string + filename; //example "sequence.txt"
tnhnrl 62:d502889e74f1 1218
tnhnrl 62:d502889e74f1 1219 _fp = fopen(filename_string.c_str(), "w"); //open a file for writing
tnhnrl 62:d502889e74f1 1220 }
tnhnrl 62:d502889e74f1 1221
tnhnrl 62:d502889e74f1 1222 void MbedLogger::setDataCounter(int input_counter) {
tnhnrl 62:d502889e74f1 1223 _transmit_counter = input_counter;
tnhnrl 62:d502889e74f1 1224 }
tnhnrl 62:d502889e74f1 1225
tnhnrl 62:d502889e74f1 1226 void MbedLogger::closeIncompleteFile() {
tnhnrl 62:d502889e74f1 1227 fprintf(_fp, "TRANSMISSION INTERRUPTED!"); //write this warning to the file
tnhnrl 62:d502889e74f1 1228 closeLogFile(); //close file
tnhnrl 62:d502889e74f1 1229 }
tnhnrl 62:d502889e74f1 1230
tnhnrl 62:d502889e74f1 1231 void MbedLogger::appendLogFile(int current_state, int option) {
tnhnrl 62:d502889e74f1 1232 //option one means write to file
tnhnrl 62:d502889e74f1 1233
tnhnrl 62:d502889e74f1 1234 if (option == 1) {
tnhnrl 62:d502889e74f1 1235 if (!_fp) { //if not present
tnhnrl 62:d502889e74f1 1236 _fp = fopen(_full_file_path_string.c_str(), "a");
tnhnrl 62:d502889e74f1 1237 }
tnhnrl 62:d502889e74f1 1238
tnhnrl 62:d502889e74f1 1239 //record data using the recordData function (takes in the state integer)
tnhnrl 62:d502889e74f1 1240 recordData(current_state);
tnhnrl 62:d502889e74f1 1241 }
tnhnrl 62:d502889e74f1 1242
tnhnrl 62:d502889e74f1 1243 else {
tnhnrl 62:d502889e74f1 1244 closeLogFile();
tnhnrl 62:d502889e74f1 1245 }
tnhnrl 62:d502889e74f1 1246 }
joel_ssc 82:0981b9ada820 1247 void MbedLogger::appendDiagFile(char *printf_string, int flushclose) {
joel_ssc 82:0981b9ada820 1248 //
joel_ssc 82:0981b9ada820 1249
joel_ssc 82:0981b9ada820 1250 int start_time = 1518467832;
joel_ssc 82:0981b9ada820 1251 //in the future create the ability to set the start time
joel_ssc 82:0981b9ada820 1252
joel_ssc 82:0981b9ada820 1253 int time_now = mbedLogger().getSystemTime();
joel_ssc 82:0981b9ada820 1254 if (!_fp2) { //if not present
joel_ssc 82:0981b9ada820 1255 _fp2 = fopen(_full_diagfile_path_string.c_str(), "a");
joel_ssc 82:0981b9ada820 1256 }
joel_ssc 82:0981b9ada820 1257 int del_time = time_now - start_time;
joel_ssc 82:0981b9ada820 1258 //record data using the recordData function (takes in the state integer)
joel_ssc 82:0981b9ada820 1259 fprintf(_fp2, "time=%d seconds ", del_time);
joel_ssc 82:0981b9ada820 1260 fprintf(_fp2, printf_string);
joel_ssc 82:0981b9ada820 1261 if(flushclose == 1) { fflush(_fp2); }
joel_ssc 82:0981b9ada820 1262 if(flushclose == 0) {fclose(_fp2); _fp2 = NULL; }
joel_ssc 82:0981b9ada820 1263 }
tnhnrl 62:d502889e74f1 1264
tnhnrl 62:d502889e74f1 1265 // initialize and close the file
tnhnrl 62:d502889e74f1 1266 // log file freezes at 0x0000006c
tnhnrl 62:d502889e74f1 1267 void MbedLogger::initializeLogFile() {
joel_ssc 82:0981b9ada820 1268 string file_name_string = _file_system_string + configFileIO().logFilesStruct.logFileName; // "DIAG000.txt";
joel_ssc 82:0981b9ada820 1269 //string file_name_string = _file_system_string + "LOG000.csv"; // how to pass in log file name as a string?
joel_ssc 82:0981b9ada820 1270 _full_file_path_string = file_name_string;
joel_ssc 82:0981b9ada820 1271 char buf[256];
tnhnrl 74:d281aaef9766 1272 xbee().printf("%s file system init\n\r", _file_system_string.c_str());
joel_ssc 82:0981b9ada820 1273 sprintf(buf, "%s mbedlogger():initializelogfile: file system init\n\r", _file_system_string.c_str());
joel_ssc 82:0981b9ada820 1274 appendDiagFile(buf,1);
tnhnrl 62:d502889e74f1 1275 //try to open this file...
tnhnrl 62:d502889e74f1 1276 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 1277
tnhnrl 62:d502889e74f1 1278 //if the file is empty, create this.
tnhnrl 62:d502889e74f1 1279 if (!_fp) {
tnhnrl 62:d502889e74f1 1280 _fp = fopen(file_name_string.c_str(), "w"); //write,print,close
tnhnrl 67:c86a4b464682 1281 //fprintf(_fp,"state_string,state_ID,timer,depth_cmd,depth_ft,pitch_cmd,pitch_deg,bce_cmd,bce_mm,batt_cmd,batt_mm,pitchRate_degs,depthRate_fps\nempty log file!\n");
tnhnrl 67:c86a4b464682 1282 fprintf(_fp,_heading_string.c_str());
tnhnrl 62:d502889e74f1 1283 closeLogFile();
tnhnrl 62:d502889e74f1 1284 }
tnhnrl 62:d502889e74f1 1285 else
tnhnrl 62:d502889e74f1 1286 closeLogFile(); //close the opened read file
tnhnrl 62:d502889e74f1 1287 }
joel_ssc 82:0981b9ada820 1288 void MbedLogger::initializeDiagFile(int print_diag) {
joel_ssc 82:0981b9ada820 1289 //string file_name_string = _file_system_string + "DIAG000.txt"; // how to pass in log file name as a string?
joel_ssc 82:0981b9ada820 1290 string file_name_string = _file_system_string + configFileIO().logFilesStruct.diagFileName; // "DIAG000.txt";
joel_ssc 82:0981b9ada820 1291 _full_diagfile_path_string = file_name_string;
joel_ssc 82:0981b9ada820 1292 char buf[256];
joel_ssc 82:0981b9ada820 1293 xbee().printf("%s file system init\n\r", _file_system_string.c_str());
joel_ssc 82:0981b9ada820 1294 sprintf(buf, "mbedlogger():Initializediagfile input variable diagfilename: %s file system init\n\r", file_name_string.c_str());
joel_ssc 82:0981b9ada820 1295 if(print_diag == 1) {appendDiagFile(buf,3);} //configFileIO().logFilesStruct.diagFileName
joel_ssc 82:0981b9ada820 1296 //try to open this file...
joel_ssc 82:0981b9ada820 1297 if( _fp2 == NULL) { _fp2 = fopen(file_name_string.c_str(), "r"); }
joel_ssc 82:0981b9ada820 1298
joel_ssc 82:0981b9ada820 1299 //if the file is empty, create this.
joel_ssc 82:0981b9ada820 1300 if (!_fp2) {
joel_ssc 82:0981b9ada820 1301 _fp2 = fopen(file_name_string.c_str(), "w"); //write,print,close
joel_ssc 82:0981b9ada820 1302 //fprintf(_fp,"state_string,state_ID,timer,depth_cmd,depth_ft,pitch_cmd,pitch_deg,bce_cmd,bce_mm,batt_cmd,batt_mm,pitchRate_degs,depthRate_fps\nempty log file!\n");
joel_ssc 82:0981b9ada820 1303 fprintf(_fp2,_diag_heading_string.c_str());
joel_ssc 82:0981b9ada820 1304 closeDiagFile();
joel_ssc 82:0981b9ada820 1305 }
joel_ssc 82:0981b9ada820 1306 else
joel_ssc 82:0981b9ada820 1307 closeDiagFile(); //close the opened read file
joel_ssc 82:0981b9ada820 1308 }
tnhnrl 62:d502889e74f1 1309
tnhnrl 62:d502889e74f1 1310 int MbedLogger::fileTransmitState() {
tnhnrl 62:d502889e74f1 1311 return _file_transmission_state;
tnhnrl 62:d502889e74f1 1312 }
tnhnrl 62:d502889e74f1 1313
tnhnrl 62:d502889e74f1 1314 int MbedLogger::calcCrcOneString (string input_string) {
tnhnrl 62:d502889e74f1 1315 int crc_table [256] = {0, 49345, 49537, 320, 49921, 960, 640, 49729, 50689, 1728, 1920, 51009, 1280, 50625, 50305, 1088, 52225, 3264, 3456, 52545, 3840, 53185, 52865, 3648, 2560, 51905, 52097, 2880, 51457, 2496, 2176, 51265, 55297, 6336, 6528, 55617, 6912, 56257, 55937, 6720, 7680, 57025, 57217, 8000, 56577, 7616, 7296, 56385, 5120, 54465, 54657, 5440, 55041, 6080, 5760, 54849, 53761, 4800, 4992, 54081, 4352, 53697, 53377, 4160, 61441, 12480, 12672, 61761, 13056, 62401, 62081, 12864, 13824, 63169, 63361, 14144, 62721, 13760, 13440, 62529, 15360, 64705, 64897, 15680, 65281, 16320, 16000, 65089, 64001, 15040, 15232, 64321, 14592, 63937, 63617, 14400, 10240, 59585, 59777, 10560, 60161, 11200, 10880, 59969, 60929, 11968, 12160, 61249, 11520, 60865, 60545, 11328, 58369, 9408, 9600, 58689, 9984, 59329, 59009, 9792, 8704, 58049, 58241, 9024, 57601, 8640, 8320, 57409, 40961, 24768, 24960, 41281, 25344, 41921, 41601, 25152, 26112, 42689, 42881, 26432, 42241, 26048, 25728, 42049, 27648, 44225, 44417, 27968, 44801, 28608, 28288, 44609, 43521, 27328, 27520, 43841, 26880, 43457, 43137, 26688, 30720, 47297, 47489, 31040, 47873, 31680, 31360, 47681, 48641, 32448, 32640, 48961, 32000, 48577, 48257, 31808, 46081, 29888, 30080, 46401, 30464, 47041, 46721, 30272, 29184, 45761, 45953, 29504, 45313, 29120, 28800, 45121, 20480, 37057, 37249, 20800, 37633, 21440, 21120, 37441, 38401, 22208, 22400, 38721, 21760, 38337, 38017, 21568, 39937, 23744, 23936, 40257, 24320, 40897, 40577, 24128, 23040, 39617, 39809, 23360, 39169, 22976, 22656, 38977, 34817, 18624, 18816, 35137, 19200, 35777, 35457, 19008, 19968, 36545, 36737, 20288, 36097, 19904, 19584, 35905, 17408, 33985, 34177, 17728, 34561, 18368, 18048, 34369, 33281, 17088, 17280, 33601, 16640, 33217, 32897, 16448};
tnhnrl 62:d502889e74f1 1316
tnhnrl 62:d502889e74f1 1317 int crc = 0;
tnhnrl 62:d502889e74f1 1318 for (unsigned int i = 0; i < input_string.length(); i++) {
tnhnrl 62:d502889e74f1 1319 //convert each character to an integer
tnhnrl 62:d502889e74f1 1320 int character_to_integer = input_string[i]; //correct
tnhnrl 62:d502889e74f1 1321
tnhnrl 62:d502889e74f1 1322 crc = (crc_table[(character_to_integer ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1323 }
tnhnrl 62:d502889e74f1 1324
tnhnrl 74:d281aaef9766 1325 //xbee().printf("DEBUG: calcCrcOne string length: %d crc: %d\n\r", input_string.length(), crc/256);
tnhnrl 62:d502889e74f1 1326
tnhnrl 62:d502889e74f1 1327 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1328 }
tnhnrl 62:d502889e74f1 1329
tnhnrl 62:d502889e74f1 1330 int MbedLogger::calcCrcTwoString (string input_string) {
tnhnrl 62:d502889e74f1 1331 int crc_table [256] = {0, 49345, 49537, 320, 49921, 960, 640, 49729, 50689, 1728, 1920, 51009, 1280, 50625, 50305, 1088, 52225, 3264, 3456, 52545, 3840, 53185, 52865, 3648, 2560, 51905, 52097, 2880, 51457, 2496, 2176, 51265, 55297, 6336, 6528, 55617, 6912, 56257, 55937, 6720, 7680, 57025, 57217, 8000, 56577, 7616, 7296, 56385, 5120, 54465, 54657, 5440, 55041, 6080, 5760, 54849, 53761, 4800, 4992, 54081, 4352, 53697, 53377, 4160, 61441, 12480, 12672, 61761, 13056, 62401, 62081, 12864, 13824, 63169, 63361, 14144, 62721, 13760, 13440, 62529, 15360, 64705, 64897, 15680, 65281, 16320, 16000, 65089, 64001, 15040, 15232, 64321, 14592, 63937, 63617, 14400, 10240, 59585, 59777, 10560, 60161, 11200, 10880, 59969, 60929, 11968, 12160, 61249, 11520, 60865, 60545, 11328, 58369, 9408, 9600, 58689, 9984, 59329, 59009, 9792, 8704, 58049, 58241, 9024, 57601, 8640, 8320, 57409, 40961, 24768, 24960, 41281, 25344, 41921, 41601, 25152, 26112, 42689, 42881, 26432, 42241, 26048, 25728, 42049, 27648, 44225, 44417, 27968, 44801, 28608, 28288, 44609, 43521, 27328, 27520, 43841, 26880, 43457, 43137, 26688, 30720, 47297, 47489, 31040, 47873, 31680, 31360, 47681, 48641, 32448, 32640, 48961, 32000, 48577, 48257, 31808, 46081, 29888, 30080, 46401, 30464, 47041, 46721, 30272, 29184, 45761, 45953, 29504, 45313, 29120, 28800, 45121, 20480, 37057, 37249, 20800, 37633, 21440, 21120, 37441, 38401, 22208, 22400, 38721, 21760, 38337, 38017, 21568, 39937, 23744, 23936, 40257, 24320, 40897, 40577, 24128, 23040, 39617, 39809, 23360, 39169, 22976, 22656, 38977, 34817, 18624, 18816, 35137, 19200, 35777, 35457, 19008, 19968, 36545, 36737, 20288, 36097, 19904, 19584, 35905, 17408, 33985, 34177, 17728, 34561, 18368, 18048, 34369, 33281, 17088, 17280, 33601, 16640, 33217, 32897, 16448};
tnhnrl 62:d502889e74f1 1332
tnhnrl 62:d502889e74f1 1333 int crc = 0;
tnhnrl 62:d502889e74f1 1334 for (unsigned int i = 0; i < input_string.length(); i++) {
tnhnrl 62:d502889e74f1 1335 //convert each character to an integer
tnhnrl 62:d502889e74f1 1336 int character_to_integer = input_string[i]; //correct
tnhnrl 62:d502889e74f1 1337
tnhnrl 62:d502889e74f1 1338 crc = (crc_table[(character_to_integer ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1339 }
tnhnrl 62:d502889e74f1 1340
tnhnrl 74:d281aaef9766 1341 //xbee().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_string.length(), crc % 256);
tnhnrl 62:d502889e74f1 1342
tnhnrl 62:d502889e74f1 1343 return crc % 256; //last byte
tnhnrl 62:d502889e74f1 1344 }
tnhnrl 62:d502889e74f1 1345
tnhnrl 62:d502889e74f1 1346 void MbedLogger::createEmptyLog() {
tnhnrl 62:d502889e74f1 1347 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 67:c86a4b464682 1348 string empty_log = "EMPTY LOG";
tnhnrl 62:d502889e74f1 1349
tnhnrl 62:d502889e74f1 1350 _fp = fopen(file_name_string.c_str(), "w");
tnhnrl 67:c86a4b464682 1351
tnhnrl 67:c86a4b464682 1352 fprintf(_fp, "%.25s\n",empty_log.c_str()); //just write this string to the log (processing needs a file size that is not zero)
tnhnrl 62:d502889e74f1 1353 closeLogFile();
tnhnrl 62:d502889e74f1 1354 }
tnhnrl 62:d502889e74f1 1355
tnhnrl 62:d502889e74f1 1356 int MbedLogger::getFileSize(string filename) {
tnhnrl 62:d502889e74f1 1357 // fixed the const char * errror:
tnhnrl 62:d502889e74f1 1358 // https://stackoverflow.com/questions/347949/how-to-convert-a-stdstring-to-const-char-or-char
tnhnrl 62:d502889e74f1 1359 const char * char_filename = filename.c_str(); // Returns a pointer to an array that contains a null-terminated sequence of characters (i.e., a C-string) representing the current value of the string object.
tnhnrl 62:d502889e74f1 1360 //http://www.cplusplus.com/reference/string/string/c_str/
tnhnrl 62:d502889e74f1 1361
tnhnrl 62:d502889e74f1 1362 _fp = fopen(filename.c_str(), "rb"); //open the file for reading as a binary file
tnhnrl 62:d502889e74f1 1363
tnhnrl 62:d502889e74f1 1364 fseek(_fp, 0, SEEK_END); //SEEK_END is a constant in cstdio (end of the file)
tnhnrl 62:d502889e74f1 1365 unsigned int file_size = ftell(_fp); //For binary streams, this is the number of bytes from the beginning of the file.
tnhnrl 62:d502889e74f1 1366 fseek(_fp, 0, SEEK_SET); //SEEK_SET is hte beginning of the file, not sure this is necessary
tnhnrl 80:4e5d306d695b 1367
tnhnrl 80:4e5d306d695b 1368 xbee().printf("%s file size is %d bytes.\n\r", filename.c_str(), file_size);
tnhnrl 62:d502889e74f1 1369
tnhnrl 80:4e5d306d695b 1370 closeLogFile(); //can probably just close the file pointer and not worry about position
tnhnrl 62:d502889e74f1 1371
tnhnrl 62:d502889e74f1 1372 return file_size;
tnhnrl 62:d502889e74f1 1373 }
tnhnrl 62:d502889e74f1 1374
tnhnrl 62:d502889e74f1 1375 int MbedLogger::debugFileState() {
tnhnrl 74:d281aaef9766 1376 xbee().printf("What is _fp right now? %p\n\r", _fp); //pointer notation
tnhnrl 62:d502889e74f1 1377
tnhnrl 62:d502889e74f1 1378 if (_fp)
tnhnrl 62:d502889e74f1 1379 return 1; //file pointer does exist
tnhnrl 62:d502889e74f1 1380 else
tnhnrl 62:d502889e74f1 1381 return 0; //file pointer does not exist
tnhnrl 62:d502889e74f1 1382 }
tnhnrl 62:d502889e74f1 1383
tnhnrl 62:d502889e74f1 1384 void MbedLogger::specifyFileForTransmit(string input_string) {
tnhnrl 74:d281aaef9766 1385 xbee().printf("specifyFileForTransmit\n\r");
tnhnrl 62:d502889e74f1 1386
tnhnrl 62:d502889e74f1 1387 string file_string = _file_system_string + input_string;
tnhnrl 62:d502889e74f1 1388
tnhnrl 74:d281aaef9766 1389 xbee().printf("file_string is <%s>\n\r", file_string.c_str());
tnhnrl 62:d502889e74f1 1390
tnhnrl 62:d502889e74f1 1391 //open this file to read
tnhnrl 62:d502889e74f1 1392 _fp = fopen(file_string.c_str(), "r");
tnhnrl 62:d502889e74f1 1393
tnhnrl 62:d502889e74f1 1394 //transmit that file
tnhnrl 62:d502889e74f1 1395 //transmitDataWithTicker(); //replaced ticker
tnhnrl 62:d502889e74f1 1396
tnhnrl 62:d502889e74f1 1397 _file_transmission = true;
tnhnrl 62:d502889e74f1 1398 }
tnhnrl 62:d502889e74f1 1399
tnhnrl 62:d502889e74f1 1400 void MbedLogger::transmitFileFromDirectory( int file_number ) {
tnhnrl 62:d502889e74f1 1401 file_number = file_number + 1; //to get the correct number
tnhnrl 62:d502889e74f1 1402
tnhnrl 62:d502889e74f1 1403 DIR *dir;
tnhnrl 62:d502889e74f1 1404 struct dirent *dp; //dirent.h is the format of directory entries
tnhnrl 62:d502889e74f1 1405 int log_found =0, loop=1; //start file numbers at 1
tnhnrl 62:d502889e74f1 1406 long int temp=0;
tnhnrl 62:d502889e74f1 1407
tnhnrl 62:d502889e74f1 1408 // char * char_pointer;
tnhnrl 62:d502889e74f1 1409 // char * numstart, *numstop;
tnhnrl 62:d502889e74f1 1410
tnhnrl 62:d502889e74f1 1411 if ( NULL == (dir = opendir( _file_system_string.c_str() )) ) {
tnhnrl 74:d281aaef9766 1412 xbee().printf("MBED directory could not be opened\r\n");
tnhnrl 62:d502889e74f1 1413 }
tnhnrl 62:d502889e74f1 1414 else
tnhnrl 62:d502889e74f1 1415 {
tnhnrl 62:d502889e74f1 1416 while ( NULL != (dp = readdir( dir )) )
tnhnrl 62:d502889e74f1 1417 {
tnhnrl 74:d281aaef9766 1418 xbee().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
tnhnrl 62:d502889e74f1 1419
tnhnrl 62:d502889e74f1 1420 //process current file if it matches the file number
tnhnrl 62:d502889e74f1 1421 if (file_number == loop) {
tnhnrl 62:d502889e74f1 1422 char * current_file_name = dp->d_name; //pointer to this char array
tnhnrl 62:d502889e74f1 1423
tnhnrl 62:d502889e74f1 1424 specifyFileForTransmit(current_file_name);
tnhnrl 62:d502889e74f1 1425
tnhnrl 62:d502889e74f1 1426 break;
tnhnrl 62:d502889e74f1 1427 }
tnhnrl 62:d502889e74f1 1428
tnhnrl 62:d502889e74f1 1429 loop++;
tnhnrl 62:d502889e74f1 1430 }
tnhnrl 62:d502889e74f1 1431 }
tnhnrl 62:d502889e74f1 1432 }
tnhnrl 62:d502889e74f1 1433
tnhnrl 62:d502889e74f1 1434 void MbedLogger::accessMbedDirectory() {
tnhnrl 62:d502889e74f1 1435 printMbedDirectory();
tnhnrl 62:d502889e74f1 1436
tnhnrl 74:d281aaef9766 1437 xbee().printf("Type in the number of the file you want to transmit.\n\r");
tnhnrl 62:d502889e74f1 1438
tnhnrl 62:d502889e74f1 1439 char message[42];
tnhnrl 62:d502889e74f1 1440
tnhnrl 74:d281aaef9766 1441 xbee().scanf("%41s", message);
tnhnrl 62:d502889e74f1 1442
tnhnrl 74:d281aaef9766 1443 xbee().printf("Input received!\n\r");
tnhnrl 62:d502889e74f1 1444
tnhnrl 62:d502889e74f1 1445 //check if char array is an integer
tnhnrl 62:d502889e74f1 1446 char* conversion_pointer;
tnhnrl 62:d502889e74f1 1447 long converted = strtol(message, &conversion_pointer, 10);
tnhnrl 62:d502889e74f1 1448
tnhnrl 62:d502889e74f1 1449 if (*conversion_pointer) {
tnhnrl 62:d502889e74f1 1450 //conversion failed because the input was not a number
tnhnrl 74:d281aaef9766 1451 xbee().printf("NOT A VALID FILE NUMBER!\n\r");
tnhnrl 62:d502889e74f1 1452 }
tnhnrl 62:d502889e74f1 1453 else {
tnhnrl 62:d502889e74f1 1454 //conversion worked!
tnhnrl 74:d281aaef9766 1455 xbee().printf("You chose file number: %d\n\r", converted);
tnhnrl 62:d502889e74f1 1456
tnhnrl 62:d502889e74f1 1457 // transmit the file
tnhnrl 62:d502889e74f1 1458 transmitFileFromDirectory(converted);
tnhnrl 62:d502889e74f1 1459 }
tnhnrl 62:d502889e74f1 1460 }
tnhnrl 62:d502889e74f1 1461
tnhnrl 62:d502889e74f1 1462 void MbedLogger::closeLogFile() {
tnhnrl 68:8f549749b8ce 1463 led4() = 1;
tnhnrl 68:8f549749b8ce 1464
tnhnrl 62:d502889e74f1 1465 if (_fp == NULL){
tnhnrl 74:d281aaef9766 1466 xbee().printf("MbedLogger: (%s) LOG FILE WAS ALREADY CLOSED!\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 1467 }
tnhnrl 62:d502889e74f1 1468
tnhnrl 62:d502889e74f1 1469 else {
tnhnrl 74:d281aaef9766 1470 xbee().printf("MbedLogger: (%s) CLOSING LOG FILE!\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 1471
tnhnrl 62:d502889e74f1 1472 //close file
tnhnrl 62:d502889e74f1 1473 fclose(_fp);
tnhnrl 62:d502889e74f1 1474
tnhnrl 62:d502889e74f1 1475 _fp = NULL; //set pointer to zero
tnhnrl 62:d502889e74f1 1476 }
tnhnrl 62:d502889e74f1 1477 }
joel_ssc 82:0981b9ada820 1478 void MbedLogger::closeDiagFile() { // closes he present diag file on _fp2
joel_ssc 82:0981b9ada820 1479 led4() = 1;
joel_ssc 82:0981b9ada820 1480
joel_ssc 82:0981b9ada820 1481 if (_fp2 == NULL){
joel_ssc 82:0981b9ada820 1482 xbee().printf("MbedLogger: (%s) DIAG FILE WAS ALREADY CLOSED!\n\r", _full_diagfile_path_string.c_str());
joel_ssc 82:0981b9ada820 1483 }
joel_ssc 82:0981b9ada820 1484
joel_ssc 82:0981b9ada820 1485 else {
joel_ssc 82:0981b9ada820 1486 xbee().printf("MbedLogger: (%s) CLOSING LOG FILE!\n\r", _full_diagfile_path_string.c_str());
joel_ssc 82:0981b9ada820 1487
joel_ssc 82:0981b9ada820 1488 //close file
joel_ssc 82:0981b9ada820 1489 fclose(_fp2);
joel_ssc 82:0981b9ada820 1490
joel_ssc 82:0981b9ada820 1491 _fp2 = NULL; //set pointer to zero
joel_ssc 82:0981b9ada820 1492 }
joel_ssc 82:0981b9ada820 1493 }
tnhnrl 62:d502889e74f1 1494
tnhnrl 62:d502889e74f1 1495 void MbedLogger::activateReceivePacket() {
tnhnrl 62:d502889e74f1 1496 _mbed_receive_loop = true;
tnhnrl 62:d502889e74f1 1497 }
tnhnrl 62:d502889e74f1 1498
tnhnrl 74:d281aaef9766 1499 void MbedLogger::receiveSequenceFile() {
tnhnrl 74:d281aaef9766 1500 //restart each time
tnhnrl 74:d281aaef9766 1501 _end_sequence_transmission = false;
tnhnrl 74:d281aaef9766 1502
tnhnrl 74:d281aaef9766 1503 openNewMissionFile();
tnhnrl 74:d281aaef9766 1504
tnhnrl 74:d281aaef9766 1505 //zero will be reserved for the file name, future
tnhnrl 74:d281aaef9766 1506 _confirmed_packet_number = 1; //in sendReply() function that transmits a reply for incoming data
tnhnrl 74:d281aaef9766 1507
tnhnrl 74:d281aaef9766 1508 // int current_packet_number = 1;
tnhnrl 74:d281aaef9766 1509 // int last_packet_number = -1;
tnhnrl 74:d281aaef9766 1510 // int break_transmission = 0;
tnhnrl 74:d281aaef9766 1511
tnhnrl 74:d281aaef9766 1512 int counter = 0;
tnhnrl 74:d281aaef9766 1513
tnhnrl 74:d281aaef9766 1514 while(1) {
tnhnrl 74:d281aaef9766 1515 wait(0.25); //runs at 4 Hz
tnhnrl 74:d281aaef9766 1516
tnhnrl 74:d281aaef9766 1517 checkForIncomingData();
tnhnrl 74:d281aaef9766 1518
tnhnrl 74:d281aaef9766 1519 //xbee().printf("\n\rDEBUG: _confirmed_packet_number%d\n\r", _confirmed_packet_number);
tnhnrl 74:d281aaef9766 1520
tnhnrl 74:d281aaef9766 1521 counter++;
tnhnrl 74:d281aaef9766 1522
tnhnrl 74:d281aaef9766 1523 sendReply(); //bad name, should call it send request or something
tnhnrl 74:d281aaef9766 1524
tnhnrl 74:d281aaef9766 1525 if (_end_sequence_transmission)
tnhnrl 74:d281aaef9766 1526 break;
tnhnrl 74:d281aaef9766 1527 }
tnhnrl 74:d281aaef9766 1528
tnhnrl 74:d281aaef9766 1529 closeLogFile();
tnhnrl 74:d281aaef9766 1530 }
tnhnrl 74:d281aaef9766 1531
tnhnrl 62:d502889e74f1 1532 void MbedLogger::receiveMissionDataWithFSM() {
tnhnrl 62:d502889e74f1 1533 checkForIncomingData();
tnhnrl 62:d502889e74f1 1534
tnhnrl 62:d502889e74f1 1535 // Example: send reply 75 65 00 00
tnhnrl 62:d502889e74f1 1536 // Example: send reply 75 65 00 01
tnhnrl 62:d502889e74f1 1537 }
tnhnrl 62:d502889e74f1 1538
tnhnrl 62:d502889e74f1 1539 void MbedLogger::receiveMissionDataWithTicker() {
tnhnrl 62:d502889e74f1 1540 openNewMissionFile(); //sequence.txt file opened
tnhnrl 62:d502889e74f1 1541
tnhnrl 62:d502889e74f1 1542 _mbed_receive_ticker.attach(callback(this, &MbedLogger::activateReceivePacket), 0.5);
tnhnrl 62:d502889e74f1 1543
tnhnrl 74:d281aaef9766 1544 xbee().printf("\n\r02/09/2018 MbedLogger receiveMissionData Beginning to receive sequence data...\n\r");
tnhnrl 62:d502889e74f1 1545
tnhnrl 62:d502889e74f1 1546 resetReplyPacket(); //reset the reply packet
tnhnrl 62:d502889e74f1 1547
tnhnrl 62:d502889e74f1 1548 //idea for stopping this if data not being received
tnhnrl 62:d502889e74f1 1549 int current_packet_number = 0;
tnhnrl 62:d502889e74f1 1550 int last_packet_number = -1;
tnhnrl 62:d502889e74f1 1551 int break_transmission = 0;
tnhnrl 62:d502889e74f1 1552
tnhnrl 62:d502889e74f1 1553 while(1) {
tnhnrl 62:d502889e74f1 1554 //runs at 10 hz
tnhnrl 62:d502889e74f1 1555 if (_mbed_receive_loop) {
tnhnrl 62:d502889e74f1 1556 if (!checkForIncomingData()) { // run this until it finishes
tnhnrl 62:d502889e74f1 1557 //when you complete data reception, this will become false
tnhnrl 74:d281aaef9766 1558 xbee().printf("\n\rMbedLogger: Data RECEPTION complete.\n\r");
tnhnrl 62:d502889e74f1 1559 _mbed_receive_ticker.detach();
tnhnrl 62:d502889e74f1 1560 break;
tnhnrl 62:d502889e74f1 1561 }
tnhnrl 62:d502889e74f1 1562 else {
tnhnrl 62:d502889e74f1 1563
tnhnrl 62:d502889e74f1 1564 // SEND REPLY 75 65 00 00
tnhnrl 62:d502889e74f1 1565 // SEND REPLY 75 65 00 01
tnhnrl 62:d502889e74f1 1566
tnhnrl 62:d502889e74f1 1567 //check if you keep getting the same thing
tnhnrl 62:d502889e74f1 1568 current_packet_number = sendReply();
tnhnrl 62:d502889e74f1 1569
tnhnrl 74:d281aaef9766 1570 //xbee().printf("DEBUG: current packet number %d (last packet number %d) \n\r", current_packet_number, last_packet_number); //debug
tnhnrl 62:d502889e74f1 1571
tnhnrl 62:d502889e74f1 1572 //let this count up a few times before it exits
tnhnrl 62:d502889e74f1 1573 if (current_packet_number == last_packet_number) {
tnhnrl 62:d502889e74f1 1574 break_transmission++;
tnhnrl 62:d502889e74f1 1575
tnhnrl 62:d502889e74f1 1576 //break transmission after 50 failed attempts (was 100)
tnhnrl 62:d502889e74f1 1577 if (break_transmission >= 50) {
tnhnrl 62:d502889e74f1 1578 closeIncompleteFile(); //close the file
tnhnrl 62:d502889e74f1 1579 _mbed_receive_ticker.detach();
tnhnrl 74:d281aaef9766 1580 xbee().printf("MbedLogger: TRANSMISSION INTERRUPTED!\n\r");
tnhnrl 62:d502889e74f1 1581 break;
tnhnrl 62:d502889e74f1 1582 }
tnhnrl 62:d502889e74f1 1583 }
tnhnrl 62:d502889e74f1 1584 else
tnhnrl 62:d502889e74f1 1585 last_packet_number = current_packet_number;
tnhnrl 62:d502889e74f1 1586 }
tnhnrl 62:d502889e74f1 1587 _mbed_receive_loop = false; // wait until the loop rate timer fires again
tnhnrl 62:d502889e74f1 1588 }
tnhnrl 62:d502889e74f1 1589 }
tnhnrl 62:d502889e74f1 1590 }
tnhnrl 62:d502889e74f1 1591
tnhnrl 62:d502889e74f1 1592 //only do this for the MBED because of the limited file size
tnhnrl 62:d502889e74f1 1593 //write one line to the file (open to write, this will erase all other data) and close it.
tnhnrl 62:d502889e74f1 1594 void MbedLogger::eraseFile() {
tnhnrl 62:d502889e74f1 1595 _fp = fopen(_full_file_path_string.c_str(), "w"); // LOG000.csv
tnhnrl 62:d502889e74f1 1596
tnhnrl 67:c86a4b464682 1597 fprintf(_fp,_heading_string.c_str());
tnhnrl 74:d281aaef9766 1598
tnhnrl 62:d502889e74f1 1599 closeLogFile();
tnhnrl 62:d502889e74f1 1600 }
tnhnrl 62:d502889e74f1 1601
tnhnrl 62:d502889e74f1 1602 void MbedLogger::intCreateDataPacket(int data_buffer[],int payload_length) {
tnhnrl 62:d502889e74f1 1603 // packet is 7565 0001 FFFF EEEE CC DATA DATA DATA ... CRC1 CRC2
tnhnrl 62:d502889e74f1 1604
tnhnrl 62:d502889e74f1 1605 //check here https://www.rapidtables.com/convert/number/hex-to-decimal.html?x=01c0
tnhnrl 62:d502889e74f1 1606 // ieee 754: http://www6.uniovi.es/~antonio/uned/ieee754/IEEE-754hex32.html
tnhnrl 62:d502889e74f1 1607
tnhnrl 62:d502889e74f1 1608 //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
tnhnrl 62:d502889e74f1 1609 _data_packet.clear();
tnhnrl 62:d502889e74f1 1610
tnhnrl 62:d502889e74f1 1611 //DATA PACKET HEADER
tnhnrl 62:d502889e74f1 1612 _data_packet.push_back(117); //0x75
tnhnrl 62:d502889e74f1 1613 _data_packet.push_back(101); //0x65
tnhnrl 62:d502889e74f1 1614
tnhnrl 62:d502889e74f1 1615 _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 1616 _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 1617
tnhnrl 62:d502889e74f1 1618 _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 1619 _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 1620
tnhnrl 62:d502889e74f1 1621 _data_packet.push_back(_current_line_length);
tnhnrl 62:d502889e74f1 1622
tnhnrl 62:d502889e74f1 1623 //DATA FROM INTEGER ARRAY (read the array)
tnhnrl 62:d502889e74f1 1624 for (int i = 0; i < payload_length; i++) {
tnhnrl 62:d502889e74f1 1625 _data_packet.push_back(data_buffer[i]);
tnhnrl 62:d502889e74f1 1626 }
tnhnrl 62:d502889e74f1 1627
tnhnrl 62:d502889e74f1 1628 //CRC CALCULATIONS BELOW, character version of calculation screws up on null character 0x00, scrapped and using vector of integers
tnhnrl 62:d502889e74f1 1629 int crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 1630 int crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 1631
tnhnrl 62:d502889e74f1 1632 //place the crc bytes into the data packet that is transmitted
tnhnrl 62:d502889e74f1 1633 _data_packet.push_back(crc_one);
tnhnrl 62:d502889e74f1 1634 _data_packet.push_back(crc_two);
tnhnrl 62:d502889e74f1 1635 }
tnhnrl 62:d502889e74f1 1636
tnhnrl 68:8f549749b8ce 1637 void MbedLogger::setTransmitPacketNumber(int packet_number) {
tnhnrl 68:8f549749b8ce 1638 _transmit_packet_num = packet_number;
tnhnrl 69:919ac8d7e023 1639
tnhnrl 69:919ac8d7e023 1640 //also needed to reset a boolean flag on the transmit
tnhnrl 69:919ac8d7e023 1641 _fsm_transmit_complete = false;
tnhnrl 73:f6f378311c8d 1642
tnhnrl 73:f6f378311c8d 1643 _end_transmit_packet = false;
tnhnrl 72:250b2665755c 1644 }
tnhnrl 72:250b2665755c 1645
tnhnrl 72:250b2665755c 1646 int MbedLogger::currentPacketNumber() {
tnhnrl 72:250b2665755c 1647 return _packet_number;
tnhnrl 74:d281aaef9766 1648 }