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@72:250b2665755c, 2018-07-02 (annotated)

Committer:
tnhnrl
Date:
Mon Jul 02 14:28:22 2018 +0000
Revision:
72:250b2665755c
Parent:
71:939d179478c4
Child:
73:f6f378311c8d
keyboard fix

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"
tnhnrl 62:d502889e74f1 3
tnhnrl 62:d502889e74f1 4 //Timer t; //used to test time to create packet //timing debug
tnhnrl 62:d502889e74f1 5
tnhnrl 62:d502889e74f1 6 MbedLogger::MbedLogger(string file_system_input_string) {
tnhnrl 62:d502889e74f1 7 _file_system_string = file_system_input_string;
tnhnrl 62:d502889e74f1 8 _full_file_path_string = _file_system_string + "LOG000.csv"; //use multiple logs in the future? (after file size is too large)
tnhnrl 62:d502889e74f1 9 _file_number = 0;
tnhnrl 62:d502889e74f1 10 _file_transmission = true;
tnhnrl 62:d502889e74f1 11 _confirmed_packet_number = 0; //must set this to zero
tnhnrl 62:d502889e74f1 12 _transmit_counter = 0;
tnhnrl 62:d502889e74f1 13 _file_transmission_state = -1;
tnhnrl 62:d502889e74f1 14 _total_number_of_packets = 0;
tnhnrl 62:d502889e74f1 15 _mbed_transmit_loop = false;
tnhnrl 62:d502889e74f1 16 _received_filename = "";
tnhnrl 63:6cb0405fc6e6 17
tnhnrl 63:6cb0405fc6e6 18 _log_file_line_counter = 0; //used to set timer in finite state machine based on size of log
tnhnrl 67:c86a4b464682 19
tnhnrl 68:8f549749b8ce 20 _heading_string = "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,sys_amps,sys_volts,int_press_PSI\n";
tnhnrl 68:8f549749b8ce 21
tnhnrl 68:8f549749b8ce 22 _transmit_packet_num = 0;
tnhnrl 69:919ac8d7e023 23
tnhnrl 69:919ac8d7e023 24 _fsm_transmit_complete = false;
tnhnrl 62:d502889e74f1 25 }
tnhnrl 62:d502889e74f1 26
tnhnrl 62:d502889e74f1 27 //this function has to be called for the time to function correctly
tnhnrl 62:d502889e74f1 28 void MbedLogger::setLogTime() {
tnhnrl 62:d502889e74f1 29 pc().printf("\n%s log time set.\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 30 set_time(1518467832); // Set RTC time to Mon, 12 FEB 2018 15:37
tnhnrl 62:d502889e74f1 31 }
tnhnrl 62:d502889e74f1 32
tnhnrl 62:d502889e74f1 33 //in the future create the ability to set the start time
tnhnrl 62:d502889e74f1 34 int MbedLogger::getSystemTime() {
tnhnrl 62:d502889e74f1 35 time_t seconds = time(NULL); // Time as seconds since January 1, 1970
tnhnrl 62:d502889e74f1 36
tnhnrl 62:d502889e74f1 37 return seconds;
tnhnrl 62:d502889e74f1 38 }
tnhnrl 62:d502889e74f1 39
tnhnrl 62:d502889e74f1 40 void MbedLogger::recordData(int current_state) {
tnhnrl 62:d502889e74f1 41 int data_log_int = mbedLogger().getSystemTime(); //read the system timer to get unix timestamp
tnhnrl 62:d502889e74f1 42 //_data_log[0] = mbedLogger().getSystemTime(); //read the system timer to get unix timestamp
tnhnrl 62:d502889e74f1 43 _data_log[1] = depthLoop().getCommand(); //depth command
tnhnrl 62:d502889e74f1 44 _data_log[2] = depthLoop().getPosition(); //depth reading
tnhnrl 62:d502889e74f1 45 _data_log[3] = pitchLoop().getCommand(); //pitch command
tnhnrl 62:d502889e74f1 46 _data_log[4] = pitchLoop().getPosition(); //pitch reading
tnhnrl 62:d502889e74f1 47 _data_log[5] = bce().getSetPosition_mm(); //BCE command
tnhnrl 62:d502889e74f1 48 _data_log[6] = bce().getPosition_mm(); //BCE reading
tnhnrl 62:d502889e74f1 49 _data_log[7] = batt().getSetPosition_mm(); //Batt command
tnhnrl 62:d502889e74f1 50 _data_log[8] = batt().getPosition_mm(); //Batt reading
tnhnrl 62:d502889e74f1 51 _data_log[9] = pitchLoop().getVelocity(); // pitchRate_degs (degrees per second)
tnhnrl 62:d502889e74f1 52 _data_log[10] = depthLoop().getVelocity(); // depthRate_fps (feet per second)
tnhnrl 62:d502889e74f1 53
tnhnrl 68:8f549749b8ce 54 // extrapolated from graph if V_s = 5.0
tnhnrl 68:8f549749b8ce 55 // https://www.nxp.com/docs/en/data-sheet/MPXA6115A.pdf
tnhnrl 68:8f549749b8ce 56 float press_xducer_PSI = (22.029*(5.0*adc().readCh5()/4095.0) + 10.884) * 0.145038; // Press_Xducer (on-board)
tnhnrl 68:8f549749b8ce 57 float voltage_input = (adc().readCh6()/4095.0) * 5.0 * 7.8; //Vin_Mon on PCB schematic (system input voltage from power supply)
tnhnrl 68:8f549749b8ce 58 float current_input = adc().readCh7()/4095.0; // I_mon (appears to be one-to-one from the schematic)
tnhnrl 67:c86a4b464682 59 // presssure onboard
tnhnrl 67:c86a4b464682 60
tnhnrl 67:c86a4b464682 61
tnhnrl 68:8f549749b8ce 62 _data_log[11] = current_input; // i_in
tnhnrl 67:c86a4b464682 63 _data_log[12] = voltage_input; // v_in
tnhnrl 68:8f549749b8ce 64 _data_log[13] = press_xducer_PSI; // int_press_PSI
tnhnrl 67:c86a4b464682 65
tnhnrl 62:d502889e74f1 66 //check what the current state is and create that string
tnhnrl 62:d502889e74f1 67 string string_state;
tnhnrl 62:d502889e74f1 68 if (current_state == SIT_IDLE)
tnhnrl 62:d502889e74f1 69 string_state = "SIT_IDLE";
tnhnrl 62:d502889e74f1 70 else if (current_state == FIND_NEUTRAL)
tnhnrl 62:d502889e74f1 71 string_state = "FIND_NEUTRAL";
tnhnrl 62:d502889e74f1 72 else if (current_state == DIVE)
tnhnrl 62:d502889e74f1 73 string_state = "DIVE";
tnhnrl 62:d502889e74f1 74 else if (current_state == RISE)
tnhnrl 62:d502889e74f1 75 string_state = "RISE";
tnhnrl 62:d502889e74f1 76 else if (current_state == FLOAT_LEVEL)
tnhnrl 62:d502889e74f1 77 string_state = "FLOAT_LEVEL";
tnhnrl 62:d502889e74f1 78 else if (current_state == FLOAT_BROADCAST)
tnhnrl 62:d502889e74f1 79 string_state = "FLOAT_BROADCAST";
tnhnrl 62:d502889e74f1 80 else if (current_state == EMERGENCY_CLIMB)
tnhnrl 62:d502889e74f1 81 string_state = "EMERGENCY_CLIMB";
tnhnrl 62:d502889e74f1 82 else if (current_state == MULTI_DIVE)
tnhnrl 62:d502889e74f1 83 string_state = "MULTI_DIVE";
tnhnrl 62:d502889e74f1 84 else if (current_state == MULTI_RISE)
tnhnrl 62:d502889e74f1 85 string_state = "MULTI_RISE";
tnhnrl 62:d502889e74f1 86 else if (current_state == KEYBOARD)
tnhnrl 62:d502889e74f1 87 string_state = "KEYBOARD";
tnhnrl 62:d502889e74f1 88 else if (current_state == CHECK_TUNING)
tnhnrl 63:6cb0405fc6e6 89 string_state = "CHECK_TUNING";
tnhnrl 63:6cb0405fc6e6 90 else if (current_state == POSITION_DIVE)
tnhnrl 63:6cb0405fc6e6 91 string_state = "POSITION_DIVE";
tnhnrl 63:6cb0405fc6e6 92 else if (current_state == POSITION_RISE)
tnhnrl 69:919ac8d7e023 93 string_state = "POSITION_RISE";
tnhnrl 71:939d179478c4 94 else if (current_state == TX_MBED_LOG)
tnhnrl 71:939d179478c4 95 string_state = "TX_MBED_LOG";
tnhnrl 69:919ac8d7e023 96 else if (current_state == RECEIVE_SEQUENCE)
tnhnrl 69:919ac8d7e023 97 string_state = "RECEIVE_SEQUENCE";
tnhnrl 69:919ac8d7e023 98
tnhnrl 69:919ac8d7e023 99
tnhnrl 67:c86a4b464682 100 string blank_space = ""; //to get consistent spacing in the file
tnhnrl 62:d502889e74f1 101
tnhnrl 62:d502889e74f1 102 //record the string state, integer state, and then the data
tnhnrl 68:8f549749b8ce 103 //_heading_string is 160 characters long
tnhnrl 68:8f549749b8ce 104
tnhnrl 68:8f549749b8ce 105 //make function that checks length of header versus string below, add padding
tnhnrl 68:8f549749b8ce 106
tnhnrl 67:c86a4b464682 107 fprintf(_fp, "%16s,%.2d,",string_state.c_str(),current_state);
tnhnrl 67:c86a4b464682 108 fprintf(_fp, "%11d,",data_log_int); //length 10
tnhnrl 68:8f549749b8ce 109 fprintf(_fp, "%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.3f,%6.2f,%6.1f%38s\n",_data_log[1],
tnhnrl 67:c86a4b464682 110 _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],blank_space.c_str());
tnhnrl 67:c86a4b464682 111
tnhnrl 67:c86a4b464682 112 //each line in the file is 160 characters long text-wise, check this with a file read
tnhnrl 62:d502889e74f1 113 }
tnhnrl 62:d502889e74f1 114
tnhnrl 62:d502889e74f1 115 void MbedLogger::printMbedDirectory() {
tnhnrl 62:d502889e74f1 116 DIR *dir;
tnhnrl 62:d502889e74f1 117 struct dirent *dp; //dirent.h is the format of directory entries
tnhnrl 62:d502889e74f1 118 int log_found =0,loop=0;
tnhnrl 62:d502889e74f1 119 long int temp=0;
tnhnrl 62:d502889e74f1 120
tnhnrl 62:d502889e74f1 121 //char * char_pointer;
tnhnrl 62:d502889e74f1 122 char * numstart;
tnhnrl 62:d502889e74f1 123 //char *numstop;
tnhnrl 62:d502889e74f1 124
tnhnrl 62:d502889e74f1 125 pc().printf("\n\rPrinting out the directory of device %s\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 126
tnhnrl 62:d502889e74f1 127 if ( NULL == (dir = opendir( _file_system_string.c_str() )) ) {
tnhnrl 62:d502889e74f1 128 pc().printf("MBED directory could not be opened\r\n");
tnhnrl 62:d502889e74f1 129 }
tnhnrl 62:d502889e74f1 130 else
tnhnrl 62:d502889e74f1 131 {
tnhnrl 62:d502889e74f1 132 while ( NULL != (dp = readdir( dir )) )
tnhnrl 62:d502889e74f1 133 {
tnhnrl 62:d502889e74f1 134 if(strncmp(dp->d_name,"LOG",3)==0)
tnhnrl 62:d502889e74f1 135 {
tnhnrl 62:d502889e74f1 136 log_found=1;
tnhnrl 62:d502889e74f1 137 /*numstart = dp->d_name; //Look for third character (do safety)
tnhnrl 62:d502889e74f1 138 numstop = strchr(dp->d_name,'.');
tnhnrl 62:d502889e74f1 139 if(numstart!=NULL&&numstop!=NULL)
tnhnrl 62:d502889e74f1 140 {
tnhnrl 62:d502889e74f1 141 temp=numstop-numstart;
tnhnrl 62:d502889e74f1 142 }
tnhnrl 62:d502889e74f1 143 else
tnhnrl 62:d502889e74f1 144 log_found=0; //Something is not right. Ignore
tnhnrl 62:d502889e74f1 145 */
tnhnrl 62:d502889e74f1 146 numstart=dp->d_name+3;
tnhnrl 62:d502889e74f1 147 temp=strtol(numstart,NULL,10); //add in check to see if this is null (start logs at one)
tnhnrl 62:d502889e74f1 148 }
tnhnrl 62:d502889e74f1 149 else
tnhnrl 62:d502889e74f1 150 log_found=0;
tnhnrl 62:d502889e74f1 151 pc().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
tnhnrl 62:d502889e74f1 152
tnhnrl 62:d502889e74f1 153 loop++;
tnhnrl 62:d502889e74f1 154 }
tnhnrl 62:d502889e74f1 155 }
tnhnrl 62:d502889e74f1 156 }
tnhnrl 62:d502889e74f1 157
tnhnrl 68:8f549749b8ce 158 //prints current log file to the screen (terminal)
tnhnrl 62:d502889e74f1 159 void MbedLogger::printCurrentLogFile() {
tnhnrl 62:d502889e74f1 160 //open the file for reading
tnhnrl 62:d502889e74f1 161 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 162
tnhnrl 63:6cb0405fc6e6 163 _log_file_line_counter = 0;
tnhnrl 62:d502889e74f1 164
tnhnrl 62:d502889e74f1 165 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 166
tnhnrl 62:d502889e74f1 167 char buffer[500];
tnhnrl 62:d502889e74f1 168
tnhnrl 62:d502889e74f1 169 //read the file line-by-line and print that to the screen
tnhnrl 62:d502889e74f1 170 pc().printf("\n\rCURRENT MBED LOG FILE /local/Log%03d.csv:\n\n\r",_file_number);
tnhnrl 62:d502889e74f1 171 while (!feof(_fp)) {
tnhnrl 62:d502889e74f1 172 // read in the line and make sure it was successful
tnhnrl 62:d502889e74f1 173 if (fgets(buffer,500,_fp) != NULL) { //stops at new line
tnhnrl 62:d502889e74f1 174 pc().printf("%s\r",buffer);
tnhnrl 63:6cb0405fc6e6 175 _log_file_line_counter++;
tnhnrl 62:d502889e74f1 176 }
tnhnrl 62:d502889e74f1 177 }
tnhnrl 62:d502889e74f1 178
tnhnrl 62:d502889e74f1 179 //fgets stops when either (n-1) characters are read, the newline character is read,
tnhnrl 62:d502889e74f1 180 // or the end-of-file is reached
tnhnrl 62:d502889e74f1 181
tnhnrl 62:d502889e74f1 182 //close the file
tnhnrl 62:d502889e74f1 183 closeLogFile();
tnhnrl 63:6cb0405fc6e6 184 pc().printf("\n\rLog file closed. Lines in log file: %d.\n\r", _log_file_line_counter);
tnhnrl 62:d502889e74f1 185 }
tnhnrl 62:d502889e74f1 186
tnhnrl 62:d502889e74f1 187 void MbedLogger::openFileForTransmit() {
tnhnrl 62:d502889e74f1 188 pc().printf("\n\ropenFileForTransmit\n\r");
tnhnrl 62:d502889e74f1 189 //open the current file to read the contents
tnhnrl 62:d502889e74f1 190 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 191
tnhnrl 62:d502889e74f1 192 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 193
tnhnrl 62:d502889e74f1 194 _file_transmission = true;
tnhnrl 62:d502889e74f1 195 }
tnhnrl 62:d502889e74f1 196
tnhnrl 62:d502889e74f1 197 void MbedLogger::createDataPacket() {
tnhnrl 62:d502889e74f1 198 // packet is 7565 0001 FFFF EEEE CC DATA DATA DATA ... CRC1 CRC2
tnhnrl 62:d502889e74f1 199
tnhnrl 62:d502889e74f1 200 //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
tnhnrl 62:d502889e74f1 201 _data_packet.clear();
tnhnrl 62:d502889e74f1 202
tnhnrl 62:d502889e74f1 203 //DATA PACKET HEADER
tnhnrl 62:d502889e74f1 204 _data_packet.push_back(117); //0x75
tnhnrl 62:d502889e74f1 205 _data_packet.push_back(101); //0x65
tnhnrl 62:d502889e74f1 206
tnhnrl 62:d502889e74f1 207 _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 208 _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 209
tnhnrl 62:d502889e74f1 210 _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 211 _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 212
tnhnrl 62:d502889e74f1 213 _data_packet.push_back(_current_line_length);
tnhnrl 62:d502889e74f1 214
tnhnrl 68:8f549749b8ce 215 //pc().printf("DEBUG: Current line buffer: %s\n\r", _line_buffer); //debug
tnhnrl 62:d502889e74f1 216
tnhnrl 62:d502889e74f1 217 //DATA FROM LINE READ (read string character by chracter)
tnhnrl 62:d502889e74f1 218 for (int i = 0; i < _current_line_length; i++) {
tnhnrl 62:d502889e74f1 219 _data_packet.push_back(_line_buffer[i]);
tnhnrl 62:d502889e74f1 220 }
tnhnrl 62:d502889e74f1 221
tnhnrl 62:d502889e74f1 222 //CRC CALCULATIONS BELOW
tnhnrl 62:d502889e74f1 223 //character version of calculation screws up on null character 0x00, scrapped and using vector of integers
tnhnrl 62:d502889e74f1 224
tnhnrl 62:d502889e74f1 225 int crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 226 int crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 227
tnhnrl 62:d502889e74f1 228 //place the crc bytes into the data packet that is transmitted
tnhnrl 62:d502889e74f1 229 _data_packet.push_back(crc_one);
tnhnrl 62:d502889e74f1 230 _data_packet.push_back(crc_two);
tnhnrl 62:d502889e74f1 231 }
tnhnrl 62:d502889e74f1 232
tnhnrl 69:919ac8d7e023 233 //new 6/27/2018
tnhnrl 69:919ac8d7e023 234 void MbedLogger::createDataPacket(char line_buffer_sent[], int line_length_sent) {
tnhnrl 69:919ac8d7e023 235 // packet is 7565 0001 FFFF EEEE CC DATA DATA DATA ... CRC1 CRC2
tnhnrl 69:919ac8d7e023 236
tnhnrl 69:919ac8d7e023 237 //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
tnhnrl 69:919ac8d7e023 238 _data_packet.clear();
tnhnrl 69:919ac8d7e023 239
tnhnrl 69:919ac8d7e023 240 //DATA PACKET HEADER
tnhnrl 69:919ac8d7e023 241 _data_packet.push_back(117); //0x75
tnhnrl 69:919ac8d7e023 242 _data_packet.push_back(101); //0x65
tnhnrl 69:919ac8d7e023 243
tnhnrl 69:919ac8d7e023 244 _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
tnhnrl 69:919ac8d7e023 245 _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
tnhnrl 69:919ac8d7e023 246
tnhnrl 69:919ac8d7e023 247 _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
tnhnrl 69:919ac8d7e023 248 _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
tnhnrl 69:919ac8d7e023 249
tnhnrl 69:919ac8d7e023 250 _data_packet.push_back(line_length_sent);
tnhnrl 69:919ac8d7e023 251
tnhnrl 69:919ac8d7e023 252 //pc().printf("DEBUG: Current line buffer: %s\n\r", _line_buffer); //debug
tnhnrl 69:919ac8d7e023 253
tnhnrl 69:919ac8d7e023 254 //DATA FROM LINE READ (read string character by chracter)
tnhnrl 69:919ac8d7e023 255 for (int i = 0; i < line_length_sent; i++) {
tnhnrl 69:919ac8d7e023 256 _data_packet.push_back(line_buffer_sent[i]);
tnhnrl 69:919ac8d7e023 257 }
tnhnrl 69:919ac8d7e023 258
tnhnrl 69:919ac8d7e023 259 //CRC CALCULATIONS BELOW
tnhnrl 69:919ac8d7e023 260 //character version of calculation screws up on null character 0x00, scrapped and using vector of integers
tnhnrl 69:919ac8d7e023 261
tnhnrl 69:919ac8d7e023 262 int crc_one = calcCrcOne();
tnhnrl 69:919ac8d7e023 263 int crc_two = calcCrcTwo();
tnhnrl 69:919ac8d7e023 264
tnhnrl 69:919ac8d7e023 265 //place the crc bytes into the data packet that is transmitted
tnhnrl 69:919ac8d7e023 266 _data_packet.push_back(crc_one);
tnhnrl 69:919ac8d7e023 267 _data_packet.push_back(crc_two);
tnhnrl 69:919ac8d7e023 268
tnhnrl 69:919ac8d7e023 269 //pc().printf("debug createDataPacket(char line_buffer_sent[], int line_length_sent)\n\r");
tnhnrl 69:919ac8d7e023 270 }
tnhnrl 69:919ac8d7e023 271
tnhnrl 62:d502889e74f1 272 //should i save it as a string and transmit the string? next iteration maybe
tnhnrl 62:d502889e74f1 273
tnhnrl 62:d502889e74f1 274 void MbedLogger::transmitDataPacket() {
tnhnrl 62:d502889e74f1 275 //WRITE the data (in bytes) to the serial port
tnhnrl 62:d502889e74f1 276 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++) {
tnhnrl 62:d502889e74f1 277 pc().putc(*_it); //send integers over serial port one byte at a time
tnhnrl 62:d502889e74f1 278 }
tnhnrl 62:d502889e74f1 279 }
tnhnrl 62:d502889e74f1 280
tnhnrl 62:d502889e74f1 281 // test to see if transmitDataPacket is working slower than you think.
tnhnrl 62:d502889e74f1 282
tnhnrl 62:d502889e74f1 283 // REACH ONE CHAR AT A TIME (EACH ITERATION OF STATE MACHINE...)
tnhnrl 62:d502889e74f1 284
tnhnrl 68:8f549749b8ce 285
tnhnrl 68:8f549749b8ce 286 void MbedLogger::continuouslyTransmitDataNoTimer() {
tnhnrl 68:8f549749b8ce 287 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 68:8f549749b8ce 288
tnhnrl 68:8f549749b8ce 289 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 68:8f549749b8ce 290
tnhnrl 68:8f549749b8ce 291 static int packet_num = 0;
tnhnrl 68:8f549749b8ce 292
tnhnrl 68:8f549749b8ce 293 while(!feof(_fp)) {
tnhnrl 68:8f549749b8ce 294
tnhnrl 68:8f549749b8ce 295 _packet_number = packet_num;
tnhnrl 68:8f549749b8ce 296
tnhnrl 68:8f549749b8ce 297 readPacketInSeries(); //not using this but for testing purposes...
tnhnrl 68:8f549749b8ce 298
tnhnrl 68:8f549749b8ce 299 // // createDataPacket requires _packet_number, _total_number_of_packets, _current_line_length (data packet size)
tnhnrl 68:8f549749b8ce 300 // // uses char _line_buffer[256] variable to hold characters read from the file
tnhnrl 69:919ac8d7e023 301 // // packs this into a vector for transmission
tnhnrl 69:919ac8d7e023 302
tnhnrl 68:8f549749b8ce 303 createDataPacket();
tnhnrl 68:8f549749b8ce 304
tnhnrl 68:8f549749b8ce 305 transmitDataPacket();
tnhnrl 68:8f549749b8ce 306
tnhnrl 68:8f549749b8ce 307 packet_num++;
tnhnrl 68:8f549749b8ce 308
tnhnrl 68:8f549749b8ce 309 led3() = !led3();
tnhnrl 68:8f549749b8ce 310
tnhnrl 68:8f549749b8ce 311 //check for incoming request
tnhnrl 68:8f549749b8ce 312 }
tnhnrl 68:8f549749b8ce 313
tnhnrl 68:8f549749b8ce 314 closeLogFile(); //close log file if open
tnhnrl 68:8f549749b8ce 315 led4() = !led4();
tnhnrl 68:8f549749b8ce 316 }
tnhnrl 68:8f549749b8ce 317
tnhnrl 68:8f549749b8ce 318 bool MbedLogger::fsmTransmitData() { //using the finite state machine
tnhnrl 69:919ac8d7e023 319 //pc().printf("debug fsmTransmitData (%d) (tpn: %d)\n\r",_fp,_transmit_packet_num);
tnhnrl 68:8f549749b8ce 320
tnhnrl 69:919ac8d7e023 321 if (!feof(_fp) and (!_fsm_transmit_complete)) { //check for end of file
tnhnrl 68:8f549749b8ce 322
tnhnrl 69:919ac8d7e023 323 //based on the internal packet number of the class
tnhnrl 69:919ac8d7e023 324 //createDataPacket
tnhnrl 69:919ac8d7e023 325 //transmit data packet
tnhnrl 69:919ac8d7e023 326 transmitPacketNumber(_packet_number);
tnhnrl 69:919ac8d7e023 327
tnhnrl 69:919ac8d7e023 328 pc().printf("\r"); // for proper spacing
tnhnrl 68:8f549749b8ce 329
tnhnrl 69:919ac8d7e023 330 _packet_number++;
tnhnrl 69:919ac8d7e023 331 led2() = !led2();
tnhnrl 68:8f549749b8ce 332
tnhnrl 68:8f549749b8ce 333 return true;
tnhnrl 68:8f549749b8ce 334 }
tnhnrl 68:8f549749b8ce 335
tnhnrl 69:919ac8d7e023 336 else {
tnhnrl 69:919ac8d7e023 337 //is there a better way to do this?
tnhnrl 69:919ac8d7e023 338 //this flag was required because the additional requests kept generating two packets through the FSM
tnhnrl 69:919ac8d7e023 339 // by calling mbedLogger().fsmTransmitData();
tnhnrl 69:919ac8d7e023 340 //and mbedLogger().checkForPythonTransmitRequest();
tnhnrl 69:919ac8d7e023 341 _fsm_transmit_complete = true;
tnhnrl 69:919ac8d7e023 342
tnhnrl 68:8f549749b8ce 343 return false;
tnhnrl 69:919ac8d7e023 344 }
tnhnrl 68:8f549749b8ce 345 }
tnhnrl 68:8f549749b8ce 346
tnhnrl 71:939d179478c4 347 //transmitting log file with fixed length of characters to receiver program
tnhnrl 68:8f549749b8ce 348 void MbedLogger::transmitPacketNumber(int line_number) {
tnhnrl 68:8f549749b8ce 349 int line_size = 160; //length of lines in the log file, EVERY LINE MUST BE THE SAME LENGTH
tnhnrl 69:919ac8d7e023 350
tnhnrl 68:8f549749b8ce 351 fseek(_fp,(line_size+1)*line_number,SEEK_SET); //fseek must use the +1 to get the newline character
tnhnrl 69:919ac8d7e023 352
tnhnrl 69:919ac8d7e023 353 //write over the internal _line_buffer //start from the beginning and go to this position
tnhnrl 69:919ac8d7e023 354 fread(_line_buffer, 1, line_size, _fp); //read the line that is exactly 160 characters long
tnhnrl 68:8f549749b8ce 355
tnhnrl 69:919ac8d7e023 356 //pc().printf("Debug (transmitPacketNumber): line_buffer <<%s>> (line size: %d)\n\r", line_buffer,line_size);
tnhnrl 68:8f549749b8ce 357
tnhnrl 68:8f549749b8ce 358 // createDataPacket requires _packet_number, _total_number_of_packets, _current_line_length (data packet size)
tnhnrl 68:8f549749b8ce 359 // uses char _line_buffer[256] variable to hold characters read from the file
tnhnrl 68:8f549749b8ce 360 // packs this into a vector for transmission
tnhnrl 68:8f549749b8ce 361
tnhnrl 71:939d179478c4 362 //change the internal member variable for packet number, reorg this later
tnhnrl 71:939d179478c4 363 _packet_number = line_number;
tnhnrl 71:939d179478c4 364
tnhnrl 69:919ac8d7e023 365 createDataPacket(_line_buffer, line_size); //create the data packet from the _line_buffer (char array)
tnhnrl 69:919ac8d7e023 366
tnhnrl 68:8f549749b8ce 367 transmitDataPacket(); //transmit the assembled packet
tnhnrl 68:8f549749b8ce 368 }
tnhnrl 68:8f549749b8ce 369
tnhnrl 69:919ac8d7e023 370
tnhnrl 69:919ac8d7e023 371 //sample packet
tnhnrl 69:919ac8d7e023 372 //1E 1F 00 01 2E F6 //packet 1
tnhnrl 69:919ac8d7e023 373 //1E 1F 00 02 2F B6 //packet 2
tnhnrl 69:919ac8d7e023 374 //receive correct data packet from python, immediately send a transmit packet from the MBED
tnhnrl 69:919ac8d7e023 375 void MbedLogger::checkForPythonTransmitRequest() {
tnhnrl 68:8f549749b8ce 376 static int transmit_state = HEADER_117; //state in switch statement
tnhnrl 68:8f549749b8ce 377 int incoming_byte = -1; //reset each time a character is read
tnhnrl 68:8f549749b8ce 378 int requested_packet_number = -1; //reset each time a character is read
tnhnrl 68:8f549749b8ce 379 static int input_packet[4]; //changed from char in previous iteration 03/28/2018
tnhnrl 68:8f549749b8ce 380 static int transmit_crc_one = 0; //hold crc values until they're reset with calculations
tnhnrl 68:8f549749b8ce 381 static int transmit_crc_two = 0;
tnhnrl 69:919ac8d7e023 382
tnhnrl 68:8f549749b8ce 383 while (pc().readable()) {
tnhnrl 68:8f549749b8ce 384 incoming_byte = pc().getc();
tnhnrl 68:8f549749b8ce 385
tnhnrl 68:8f549749b8ce 386 switch(transmit_state) {
tnhnrl 68:8f549749b8ce 387 case HEADER_117:
tnhnrl 68:8f549749b8ce 388 //continue processing
tnhnrl 68:8f549749b8ce 389 if (incoming_byte == 30){ //1E
tnhnrl 68:8f549749b8ce 390 transmit_state = HEADER_101;
tnhnrl 68:8f549749b8ce 391 }
tnhnrl 68:8f549749b8ce 392 //did not receive byte 1
tnhnrl 68:8f549749b8ce 393 else {
tnhnrl 68:8f549749b8ce 394 transmit_state = HEADER_117; //go back to checking the first packet
tnhnrl 68:8f549749b8ce 395 }
tnhnrl 68:8f549749b8ce 396 break;
tnhnrl 68:8f549749b8ce 397
tnhnrl 68:8f549749b8ce 398 case HEADER_101:
tnhnrl 68:8f549749b8ce 399 if(incoming_byte == 31) { //1F
tnhnrl 68:8f549749b8ce 400 transmit_state = TRANSMIT_PACKET_1;
tnhnrl 68:8f549749b8ce 401 }
tnhnrl 68:8f549749b8ce 402 break;
tnhnrl 68:8f549749b8ce 403
tnhnrl 68:8f549749b8ce 404 case TRANSMIT_PACKET_1:
tnhnrl 68:8f549749b8ce 405 if (incoming_byte >= 0) {
tnhnrl 68:8f549749b8ce 406 input_packet[0] = 30;
tnhnrl 68:8f549749b8ce 407 input_packet[1] = 31;
tnhnrl 68:8f549749b8ce 408 input_packet[2] = incoming_byte;
tnhnrl 68:8f549749b8ce 409
tnhnrl 68:8f549749b8ce 410 transmit_state = TRANSMIT_PACKET_2;
tnhnrl 68:8f549749b8ce 411 //_reply_byte3 = incoming_byte;
tnhnrl 68:8f549749b8ce 412 }
tnhnrl 68:8f549749b8ce 413 break;
tnhnrl 68:8f549749b8ce 414
tnhnrl 68:8f549749b8ce 415 case TRANSMIT_PACKET_2:
tnhnrl 68:8f549749b8ce 416
tnhnrl 68:8f549749b8ce 417 if (incoming_byte >= 0) {
tnhnrl 68:8f549749b8ce 418 input_packet[3] = incoming_byte;
tnhnrl 68:8f549749b8ce 419 //_reply_byte4 = incoming_byte;
tnhnrl 68:8f549749b8ce 420 }
tnhnrl 68:8f549749b8ce 421 transmit_state = PACKET_CRC_ONE;
tnhnrl 68:8f549749b8ce 422
tnhnrl 68:8f549749b8ce 423 break;
tnhnrl 68:8f549749b8ce 424
tnhnrl 68:8f549749b8ce 425 case (PACKET_CRC_ONE):
tnhnrl 68:8f549749b8ce 426 transmit_crc_one = calcCrcOneArray(input_packet, 4); //calc CRC 1 from the input packet (size 4)
tnhnrl 68:8f549749b8ce 427
tnhnrl 68:8f549749b8ce 428 if (incoming_byte == transmit_crc_one) {
tnhnrl 68:8f549749b8ce 429 transmit_state = PACKET_CRC_TWO;
tnhnrl 68:8f549749b8ce 430 }
tnhnrl 68:8f549749b8ce 431
tnhnrl 68:8f549749b8ce 432 else
tnhnrl 68:8f549749b8ce 433 transmit_state = HEADER_117;
tnhnrl 68:8f549749b8ce 434 //or state remains the same?
tnhnrl 68:8f549749b8ce 435
tnhnrl 68:8f549749b8ce 436 break;
tnhnrl 68:8f549749b8ce 437
tnhnrl 68:8f549749b8ce 438 case (PACKET_CRC_TWO):
tnhnrl 68:8f549749b8ce 439 transmit_state = HEADER_117;
tnhnrl 68:8f549749b8ce 440 transmit_crc_two = calcCrcTwoArray(input_packet, 4); //calc CRC 2 from the input packet (size 4)
tnhnrl 68:8f549749b8ce 441
tnhnrl 68:8f549749b8ce 442 //check if CRC TWO is correct (then send full packet)
tnhnrl 68:8f549749b8ce 443 if (incoming_byte == transmit_crc_two) {
tnhnrl 68:8f549749b8ce 444 requested_packet_number = input_packet[2] * 256 + input_packet[3]; //compute the numbers 0 through 65535 with the two bytes
tnhnrl 68:8f549749b8ce 445
tnhnrl 69:919ac8d7e023 446 //receive correct checksum, immediately send this packet
tnhnrl 69:919ac8d7e023 447 transmitPacketNumber(requested_packet_number);
tnhnrl 68:8f549749b8ce 448
tnhnrl 69:919ac8d7e023 449 //fseek(_fp, 0, SEEK_END); //reset _fp (this was causing errors with the other function)
tnhnrl 69:919ac8d7e023 450 led3() = !led3();
tnhnrl 68:8f549749b8ce 451
tnhnrl 68:8f549749b8ce 452 } //end of checksum (incoming_byte) if statement
tnhnrl 68:8f549749b8ce 453
tnhnrl 68:8f549749b8ce 454 break;
tnhnrl 68:8f549749b8ce 455 } //switch statement complete
tnhnrl 69:919ac8d7e023 456 } //while statement complete
tnhnrl 68:8f549749b8ce 457 }
tnhnrl 68:8f549749b8ce 458
tnhnrl 63:6cb0405fc6e6 459 void MbedLogger::readTransmitPacketOneChar() {
tnhnrl 62:d502889e74f1 460 static int transmit_state = HEADER_117; //state in switch statement
tnhnrl 62:d502889e74f1 461 int incoming_byte = -1; //reset each time a character is read
tnhnrl 62:d502889e74f1 462 int requested_packet_number = -1; //reset each time a character is read
tnhnrl 62:d502889e74f1 463 static int input_packet[4]; //changed from char in previous iteration 03/28/2018
tnhnrl 62:d502889e74f1 464 static int transmit_crc_one = 0; //hold crc values until they're reset with calculations
tnhnrl 62:d502889e74f1 465 static int transmit_crc_two = 0;
tnhnrl 62:d502889e74f1 466
tnhnrl 62:d502889e74f1 467
tnhnrl 63:6cb0405fc6e6 468 while (pc().readable()) {
tnhnrl 63:6cb0405fc6e6 469 incoming_byte = pc().getc();
tnhnrl 63:6cb0405fc6e6 470
tnhnrl 63:6cb0405fc6e6 471 led3() = !led3();
tnhnrl 62:d502889e74f1 472
tnhnrl 63:6cb0405fc6e6 473 switch(transmit_state) {
tnhnrl 63:6cb0405fc6e6 474 case HEADER_117:
tnhnrl 63:6cb0405fc6e6 475 //continue processing
tnhnrl 63:6cb0405fc6e6 476 if (incoming_byte == 30){ //1E
tnhnrl 63:6cb0405fc6e6 477 transmit_state = HEADER_101;
tnhnrl 63:6cb0405fc6e6 478 }
tnhnrl 63:6cb0405fc6e6 479 //did not receive byte 1
tnhnrl 63:6cb0405fc6e6 480 else {
tnhnrl 63:6cb0405fc6e6 481 transmit_state = HEADER_117; //go back to checking the first packet
tnhnrl 63:6cb0405fc6e6 482 }
tnhnrl 63:6cb0405fc6e6 483 break;
tnhnrl 63:6cb0405fc6e6 484
tnhnrl 63:6cb0405fc6e6 485 case HEADER_101:
tnhnrl 63:6cb0405fc6e6 486 if(incoming_byte == 31) { //1F
tnhnrl 63:6cb0405fc6e6 487 transmit_state = TRANSMIT_PACKET_1;
tnhnrl 63:6cb0405fc6e6 488 }
tnhnrl 63:6cb0405fc6e6 489 break;
tnhnrl 62:d502889e74f1 490
tnhnrl 63:6cb0405fc6e6 491 case TRANSMIT_PACKET_1:
tnhnrl 63:6cb0405fc6e6 492 if (incoming_byte >= 0) {
tnhnrl 63:6cb0405fc6e6 493 input_packet[0] = 30;
tnhnrl 63:6cb0405fc6e6 494 input_packet[1] = 31;
tnhnrl 63:6cb0405fc6e6 495 input_packet[2] = incoming_byte;
tnhnrl 63:6cb0405fc6e6 496
tnhnrl 63:6cb0405fc6e6 497 transmit_state = TRANSMIT_PACKET_2;
tnhnrl 63:6cb0405fc6e6 498 //_reply_byte3 = incoming_byte;
tnhnrl 63:6cb0405fc6e6 499 }
tnhnrl 63:6cb0405fc6e6 500 break;
tnhnrl 63:6cb0405fc6e6 501
tnhnrl 63:6cb0405fc6e6 502 case TRANSMIT_PACKET_2:
tnhnrl 62:d502889e74f1 503
tnhnrl 63:6cb0405fc6e6 504 if (incoming_byte >= 0) {
tnhnrl 63:6cb0405fc6e6 505 input_packet[3] = incoming_byte;
tnhnrl 63:6cb0405fc6e6 506 //_reply_byte4 = incoming_byte;
tnhnrl 63:6cb0405fc6e6 507 }
tnhnrl 63:6cb0405fc6e6 508 transmit_state = PACKET_CRC_ONE;
tnhnrl 62:d502889e74f1 509
tnhnrl 63:6cb0405fc6e6 510 break;
tnhnrl 62:d502889e74f1 511
tnhnrl 63:6cb0405fc6e6 512 case (PACKET_CRC_ONE):
tnhnrl 63:6cb0405fc6e6 513 transmit_crc_one = calcCrcOneArray(input_packet, 4); //calc CRC 1 from the input packet (size 4)
tnhnrl 63:6cb0405fc6e6 514
tnhnrl 63:6cb0405fc6e6 515 if (incoming_byte == transmit_crc_one) {
tnhnrl 63:6cb0405fc6e6 516 transmit_state = PACKET_CRC_TWO;
tnhnrl 62:d502889e74f1 517 }
tnhnrl 62:d502889e74f1 518
tnhnrl 62:d502889e74f1 519 else
tnhnrl 63:6cb0405fc6e6 520 transmit_state = HEADER_117;
tnhnrl 63:6cb0405fc6e6 521 //or state remains the same?
tnhnrl 62:d502889e74f1 522
tnhnrl 63:6cb0405fc6e6 523 break;
tnhnrl 62:d502889e74f1 524
tnhnrl 63:6cb0405fc6e6 525 case (PACKET_CRC_TWO):
tnhnrl 63:6cb0405fc6e6 526 transmit_state = HEADER_117;
tnhnrl 63:6cb0405fc6e6 527 transmit_crc_two = calcCrcTwoArray(input_packet, 4); //calc CRC 2 from the input packet (size 4)
tnhnrl 63:6cb0405fc6e6 528
tnhnrl 63:6cb0405fc6e6 529 //check if CRC TWO is correct (then send full packet)
tnhnrl 63:6cb0405fc6e6 530 if (incoming_byte == transmit_crc_two) {
tnhnrl 63:6cb0405fc6e6 531 requested_packet_number = input_packet[2] * 256 + input_packet[3]; //compute the numbers 0 through 65535 with the two bytes
tnhnrl 63:6cb0405fc6e6 532
tnhnrl 63:6cb0405fc6e6 533 if (requested_packet_number != _previous_reply_byte) { //CHANGE THE NAME TO SOMETHING NOT BYTE!
tnhnrl 63:6cb0405fc6e6 534 //MUST SET THE PACKET NUMBER
tnhnrl 63:6cb0405fc6e6 535 _packet_number = requested_packet_number;
tnhnrl 63:6cb0405fc6e6 536
tnhnrl 63:6cb0405fc6e6 537 // DO NOT READ IF THE CURRENT REQUEST IS PAST THE TOTAL # OF PACKETS (lines of the file)
tnhnrl 63:6cb0405fc6e6 538 if (_packet_number <= _total_number_of_packets) {
tnhnrl 63:6cb0405fc6e6 539 readPacketInSeries();
tnhnrl 63:6cb0405fc6e6 540 createDataPacket();
tnhnrl 63:6cb0405fc6e6 541 }
tnhnrl 63:6cb0405fc6e6 542
tnhnrl 63:6cb0405fc6e6 543 _previous_reply_byte = requested_packet_number; //RECORD THIS BYTE to prevent new packets being created
tnhnrl 63:6cb0405fc6e6 544
tnhnrl 63:6cb0405fc6e6 545 transmitDataPacket(); //continuously transmit current packet until it tells you to do the next packet (response from Python program)
tnhnrl 63:6cb0405fc6e6 546 }
tnhnrl 63:6cb0405fc6e6 547
tnhnrl 63:6cb0405fc6e6 548 else
tnhnrl 63:6cb0405fc6e6 549 transmitDataPacket(); //if you get the same packet request, send the same packet
tnhnrl 63:6cb0405fc6e6 550
tnhnrl 63:6cb0405fc6e6 551 } //end of checksum (incoming_byte) if statement
tnhnrl 63:6cb0405fc6e6 552
tnhnrl 63:6cb0405fc6e6 553 break;
tnhnrl 63:6cb0405fc6e6 554 } //switch statement complete
tnhnrl 63:6cb0405fc6e6 555 } //while statement complete
tnhnrl 62:d502889e74f1 556 }
tnhnrl 62:d502889e74f1 557
tnhnrl 62:d502889e74f1 558 int MbedLogger::readTransmitPacket() {
tnhnrl 62:d502889e74f1 559 _file_transmission = true;
tnhnrl 62:d502889e74f1 560 _file_transmission_state = 0;
tnhnrl 62:d502889e74f1 561
tnhnrl 62:d502889e74f1 562 //first check if you're receiving data, then read four bytes
tnhnrl 62:d502889e74f1 563
tnhnrl 62:d502889e74f1 564 int transmit_state = 0; //for state machine
tnhnrl 62:d502889e74f1 565
tnhnrl 62:d502889e74f1 566 int incoming_byte = -1;
tnhnrl 62:d502889e74f1 567
tnhnrl 62:d502889e74f1 568 int requested_packet_number = -1;
tnhnrl 62:d502889e74f1 569
tnhnrl 62:d502889e74f1 570 static int inside_while_loop = 1;
tnhnrl 62:d502889e74f1 571
tnhnrl 62:d502889e74f1 572 while (inside_while_loop) {
tnhnrl 62:d502889e74f1 573 if (pc().readable()) { //don't rely on pc readable being open all the time
tnhnrl 62:d502889e74f1 574
tnhnrl 62:d502889e74f1 575 incoming_byte = pc().getc();
tnhnrl 62:d502889e74f1 576
tnhnrl 62:d502889e74f1 577 switch(transmit_state) {
tnhnrl 62:d502889e74f1 578
tnhnrl 62:d502889e74f1 579 case (HEADER_117):
tnhnrl 62:d502889e74f1 580 //continue processing
tnhnrl 62:d502889e74f1 581 if (incoming_byte == 117){
tnhnrl 62:d502889e74f1 582 transmit_state = HEADER_101;
tnhnrl 62:d502889e74f1 583 }
tnhnrl 62:d502889e74f1 584 //end transmission
tnhnrl 62:d502889e74f1 585 else if (incoming_byte == 16) {
tnhnrl 62:d502889e74f1 586 transmit_state = END_TRANSMISSION;
tnhnrl 62:d502889e74f1 587 }
tnhnrl 62:d502889e74f1 588 else {
tnhnrl 62:d502889e74f1 589 transmit_state = HEADER_117;
tnhnrl 62:d502889e74f1 590 }
tnhnrl 62:d502889e74f1 591 break;
tnhnrl 62:d502889e74f1 592
tnhnrl 62:d502889e74f1 593 case (HEADER_101):
tnhnrl 62:d502889e74f1 594 if(incoming_byte == 101) {
tnhnrl 62:d502889e74f1 595 transmit_state = TRANSMIT_PACKET_1;
tnhnrl 62:d502889e74f1 596 }
tnhnrl 62:d502889e74f1 597 break;
tnhnrl 62:d502889e74f1 598
tnhnrl 62:d502889e74f1 599 case (TRANSMIT_PACKET_1):
tnhnrl 62:d502889e74f1 600 if (incoming_byte >= 0) {
tnhnrl 62:d502889e74f1 601 transmit_state = TRANSMIT_PACKET_2;
tnhnrl 62:d502889e74f1 602 _reply_byte3 = incoming_byte;
tnhnrl 62:d502889e74f1 603 }
tnhnrl 62:d502889e74f1 604 break;
tnhnrl 62:d502889e74f1 605
tnhnrl 62:d502889e74f1 606 case (TRANSMIT_PACKET_2):
tnhnrl 62:d502889e74f1 607 if (incoming_byte >= 0) {
tnhnrl 62:d502889e74f1 608 _reply_byte4 = incoming_byte;
tnhnrl 62:d502889e74f1 609 }
tnhnrl 62:d502889e74f1 610
tnhnrl 62:d502889e74f1 611 requested_packet_number = _reply_byte3 * 256 + _reply_byte4; //compute the numbers 0 through 65535 with the two bytes
tnhnrl 62:d502889e74f1 612
tnhnrl 62:d502889e74f1 613 if (requested_packet_number != _previous_reply_byte) { //CHANGE THE NAME TO SOMETHING NOT BYTE!
tnhnrl 62:d502889e74f1 614 //MUST SET THE PACKET NUMBER
tnhnrl 62:d502889e74f1 615 _packet_number = requested_packet_number;
tnhnrl 62:d502889e74f1 616
tnhnrl 62:d502889e74f1 617 readPacketInSeries();
tnhnrl 62:d502889e74f1 618 createDataPacket();
tnhnrl 62:d502889e74f1 619 _previous_reply_byte = requested_packet_number; //RECORD THIS BYTE to prevent new packets being created
tnhnrl 62:d502889e74f1 620 }
tnhnrl 62:d502889e74f1 621
tnhnrl 62:d502889e74f1 622 //continuously transmit current packet until it tells you to do the next packet (response from Python program)
tnhnrl 62:d502889e74f1 623 transmitDataPacket();
tnhnrl 62:d502889e74f1 624
tnhnrl 62:d502889e74f1 625 //TRANSMIT_PACKET_2
tnhnrl 62:d502889e74f1 626 inside_while_loop = 0; //exit the while loop with this
tnhnrl 62:d502889e74f1 627 pc().printf("(TRANSMIT_PACKET_2)reached inside_while_loop = 0\n\r"); //DEBUG
tnhnrl 62:d502889e74f1 628 break;
tnhnrl 62:d502889e74f1 629 } //end of switch statement
tnhnrl 62:d502889e74f1 630 } //end of while loop
tnhnrl 62:d502889e74f1 631
tnhnrl 62:d502889e74f1 632 // else {
tnhnrl 62:d502889e74f1 633 // //pc().printf("pc not readable \n\r");
tnhnrl 62:d502889e74f1 634 // }
tnhnrl 62:d502889e74f1 635 //
tnhnrl 62:d502889e74f1 636 }
tnhnrl 62:d502889e74f1 637
tnhnrl 62:d502889e74f1 638 //once you're outside of the while loop
tnhnrl 62:d502889e74f1 639 inside_while_loop = true; //for next iteration
tnhnrl 62:d502889e74f1 640
tnhnrl 62:d502889e74f1 641 pc().printf("DEBUG: (readTransmitPacket) Outside of while loop\n\r");
tnhnrl 62:d502889e74f1 642 return false;
tnhnrl 62:d502889e74f1 643 }
tnhnrl 62:d502889e74f1 644
tnhnrl 62:d502889e74f1 645 void MbedLogger::reOpenLineReader() {
tnhnrl 62:d502889e74f1 646 //open a new one
tnhnrl 62:d502889e74f1 647 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 648
tnhnrl 62:d502889e74f1 649 _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
tnhnrl 62:d502889e74f1 650
tnhnrl 62:d502889e74f1 651 //check if this actually worked...
tnhnrl 62:d502889e74f1 652 if (!_fp) {
tnhnrl 62:d502889e74f1 653 pc().printf("ERROR: Log file could not be opened\n\r");
tnhnrl 62:d502889e74f1 654 }
tnhnrl 62:d502889e74f1 655 else {
tnhnrl 62:d502889e74f1 656 pc().printf("Current Log file (LOG000.csv) was opened.\n\r");
tnhnrl 62:d502889e74f1 657 }
tnhnrl 62:d502889e74f1 658 }
tnhnrl 62:d502889e74f1 659
tnhnrl 62:d502889e74f1 660 bool MbedLogger::openLineReader() {
tnhnrl 62:d502889e74f1 661 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 662
tnhnrl 62:d502889e74f1 663 _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
tnhnrl 62:d502889e74f1 664
tnhnrl 62:d502889e74f1 665 //check if this actually worked...
tnhnrl 62:d502889e74f1 666 if (!_fp) {
tnhnrl 62:d502889e74f1 667 //pc().printf("ERROR: Log file could not be opened\n\r");
tnhnrl 62:d502889e74f1 668 return false;
tnhnrl 62:d502889e74f1 669 }
tnhnrl 62:d502889e74f1 670 else {
tnhnrl 62:d502889e74f1 671 //pc().printf("Current Log file (LOG000.csv) was opened.\n\r");
tnhnrl 62:d502889e74f1 672 return true;
tnhnrl 62:d502889e74f1 673 }
tnhnrl 62:d502889e74f1 674 }
tnhnrl 62:d502889e74f1 675
tnhnrl 62:d502889e74f1 676 //VERIFIED THIS IS WORKING
tnhnrl 62:d502889e74f1 677 void MbedLogger::readPacketInSeries(){
tnhnrl 62:d502889e74f1 678 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 679
tnhnrl 62:d502889e74f1 680 //read the current line in the file
tnhnrl 62:d502889e74f1 681 fgets(_line_buffer, 256, _fp); //reads the line of characters until you reach a newline character
tnhnrl 62:d502889e74f1 682
tnhnrl 62:d502889e74f1 683 //RECORD THE STRING LENGTH
tnhnrl 62:d502889e74f1 684 _current_line_length = strlen(_line_buffer);
tnhnrl 62:d502889e74f1 685 }
tnhnrl 62:d502889e74f1 686
tnhnrl 69:919ac8d7e023 687 int MbedLogger::getNumberOfPacketsInCurrentLog() {
tnhnrl 62:d502889e74f1 688 _packet_number = 0;
tnhnrl 62:d502889e74f1 689
tnhnrl 62:d502889e74f1 690 int ch;
tnhnrl 62:d502889e74f1 691
tnhnrl 62:d502889e74f1 692 _total_number_of_packets = 0; //clear this each time you read the file
tnhnrl 62:d502889e74f1 693
tnhnrl 62:d502889e74f1 694 //if this is null, use the default, else use the new file
tnhnrl 62:d502889e74f1 695
tnhnrl 62:d502889e74f1 696 if (_fp == NULL) {
tnhnrl 62:d502889e74f1 697 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 698
tnhnrl 62:d502889e74f1 699 _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
tnhnrl 62:d502889e74f1 700 }
tnhnrl 62:d502889e74f1 701 else { //else, use the file that is already open...
tnhnrl 62:d502889e74f1 702 fseek(_fp, 0, SEEK_SET); // SEEK_SET is the beginning of file
tnhnrl 62:d502889e74f1 703 }
tnhnrl 62:d502889e74f1 704
tnhnrl 67:c86a4b464682 705 //counts the number of newline characters to generate the packet size
tnhnrl 62:d502889e74f1 706 while (EOF != (ch=getc(_fp))) {
tnhnrl 62:d502889e74f1 707 if ('\n' == ch)
tnhnrl 62:d502889e74f1 708 _total_number_of_packets++; // records the number of new lines to determine how many packets to send
tnhnrl 62:d502889e74f1 709 }
tnhnrl 62:d502889e74f1 710
tnhnrl 62:d502889e74f1 711 //move the FILE pointer back to the start
tnhnrl 62:d502889e74f1 712 fseek(_fp, 0, SEEK_SET); // SEEK_SET is the beginning of file
tnhnrl 62:d502889e74f1 713
tnhnrl 62:d502889e74f1 714 _file_transmission = true; //preparing to transmit files from MBED to Python
tnhnrl 68:8f549749b8ce 715
tnhnrl 69:919ac8d7e023 716 //pc().printf("debug: _total_number_of_packets: %d\n\r",_total_number_of_packets);
tnhnrl 69:919ac8d7e023 717
tnhnrl 69:919ac8d7e023 718 return _total_number_of_packets;
tnhnrl 62:d502889e74f1 719 }
tnhnrl 62:d502889e74f1 720
tnhnrl 62:d502889e74f1 721 void MbedLogger::endTransmissionCloseFile() {
tnhnrl 62:d502889e74f1 722 // if the file pointer is null, the file was not opened in the first place
tnhnrl 62:d502889e74f1 723 if (!_fp) {
tnhnrl 62:d502889e74f1 724 pc().printf("\n endTransmissionCloseFile: FILE WAS NOT OPENED!\n\r");
tnhnrl 62:d502889e74f1 725 }
tnhnrl 62:d502889e74f1 726 else {
tnhnrl 62:d502889e74f1 727 pc().printf("\n endTransmissionCloseFile: FILE FOUND AND CLOSED!\n\r");
tnhnrl 62:d502889e74f1 728 closeLogFile();
tnhnrl 62:d502889e74f1 729 }
tnhnrl 62:d502889e74f1 730
tnhnrl 62:d502889e74f1 731 _file_transmission = false;
tnhnrl 62:d502889e74f1 732 }
tnhnrl 62:d502889e74f1 733
tnhnrl 62:d502889e74f1 734 void MbedLogger::openWriteFile() {
tnhnrl 62:d502889e74f1 735 pc().printf("Opening file for reception.\n\r");
tnhnrl 62:d502889e74f1 736
tnhnrl 62:d502889e74f1 737 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 738
tnhnrl 62:d502889e74f1 739 _fp = fopen(file_name_string.c_str(), "w");
tnhnrl 62:d502889e74f1 740 }
tnhnrl 62:d502889e74f1 741
tnhnrl 62:d502889e74f1 742
tnhnrl 62:d502889e74f1 743 //weird bug noticed on 5/25/2018 where if you're not sending data the function is not completing
tnhnrl 62:d502889e74f1 744
tnhnrl 62:d502889e74f1 745
tnhnrl 62:d502889e74f1 746
tnhnrl 62:d502889e74f1 747
tnhnrl 62:d502889e74f1 748 // function checks for incoming data (receiver function) from a Python program that transmits a file
tnhnrl 62:d502889e74f1 749 // current limit is a file that has 255 lines of data
tnhnrl 68:8f549749b8ce 750 bool MbedLogger::checkForIncomingData() {
tnhnrl 62:d502889e74f1 751 int receive_packet_number;
tnhnrl 62:d502889e74f1 752 int receive_total_number_packets;
tnhnrl 62:d502889e74f1 753 int receive_packet_size;
tnhnrl 62:d502889e74f1 754
tnhnrl 62:d502889e74f1 755 bool data_transmission_complete = false;
tnhnrl 62:d502889e74f1 756
tnhnrl 62:d502889e74f1 757 int incoming_byte;
tnhnrl 62:d502889e74f1 758
tnhnrl 62:d502889e74f1 759 char char_buffer[256] = {}; //create empty buffer
tnhnrl 62:d502889e74f1 760
tnhnrl 62:d502889e74f1 761 //starting state
tnhnrl 62:d502889e74f1 762 int process_state = HEADER_117;
tnhnrl 62:d502889e74f1 763
tnhnrl 62:d502889e74f1 764 //variables for processing data below
tnhnrl 62:d502889e74f1 765 int checksum_one = -1;
tnhnrl 62:d502889e74f1 766 int checksum_two = -1;
tnhnrl 62:d502889e74f1 767
tnhnrl 62:d502889e74f1 768 int i = 5;
tnhnrl 62:d502889e74f1 769 int serial_timeout = 0;
tnhnrl 62:d502889e74f1 770
tnhnrl 62:d502889e74f1 771 while (pc().readable() && !data_transmission_complete) {
tnhnrl 62:d502889e74f1 772 incoming_byte = pc().getc(); //getc returns an unsigned char cast to an int
tnhnrl 62:d502889e74f1 773 //pc().printf("DEBUG: State 0\n\r");
tnhnrl 62:d502889e74f1 774
tnhnrl 62:d502889e74f1 775 switch(process_state) {
tnhnrl 62:d502889e74f1 776 case HEADER_117:
tnhnrl 62:d502889e74f1 777 //continue processing
tnhnrl 62:d502889e74f1 778 if (incoming_byte == 117){
tnhnrl 62:d502889e74f1 779 process_state = HEADER_101;
tnhnrl 62:d502889e74f1 780 //pc().printf("DEBUG: Case 117\n\r");
tnhnrl 62:d502889e74f1 781 }
tnhnrl 62:d502889e74f1 782 //end transmission
tnhnrl 62:d502889e74f1 783 else if (incoming_byte == 16) {
tnhnrl 62:d502889e74f1 784 process_state = END_TRANSMISSION;
tnhnrl 62:d502889e74f1 785 pc().printf("DEBUG: State 16 (END_TRANSMISSION)\n\r");
tnhnrl 62:d502889e74f1 786 }
tnhnrl 62:d502889e74f1 787 else {
tnhnrl 62:d502889e74f1 788 process_state = HEADER_117; // ???
tnhnrl 62:d502889e74f1 789 //pc().printf("DEBUG: State Header 117\n\r");
tnhnrl 62:d502889e74f1 790 }
tnhnrl 62:d502889e74f1 791 break;
tnhnrl 62:d502889e74f1 792
tnhnrl 62:d502889e74f1 793 case HEADER_101:
tnhnrl 62:d502889e74f1 794 if(incoming_byte == 101) {
tnhnrl 62:d502889e74f1 795 process_state = PACKET_NUM;
tnhnrl 62:d502889e74f1 796 //pc().printf("DEBUG: Case 101\n\r");
tnhnrl 62:d502889e74f1 797 }
tnhnrl 62:d502889e74f1 798 break;
tnhnrl 62:d502889e74f1 799
tnhnrl 62:d502889e74f1 800 case PACKET_NUM:
tnhnrl 62:d502889e74f1 801 receive_packet_number = incoming_byte;
tnhnrl 62:d502889e74f1 802 process_state = TOTAL_NUM_PACKETS;
tnhnrl 62:d502889e74f1 803 //pc().printf("DEBUG: Case PACKET_NUM\n\r");
tnhnrl 62:d502889e74f1 804 break;
tnhnrl 62:d502889e74f1 805
tnhnrl 62:d502889e74f1 806 case TOTAL_NUM_PACKETS:
tnhnrl 62:d502889e74f1 807 receive_total_number_packets = incoming_byte;
tnhnrl 62:d502889e74f1 808 process_state = PACKET_SIZE;
tnhnrl 62:d502889e74f1 809 //pc().printf("DEBUG: Case TOTAL_NUM_PACKETS\n\r");
tnhnrl 62:d502889e74f1 810 break;
tnhnrl 62:d502889e74f1 811
tnhnrl 62:d502889e74f1 812 case PACKET_SIZE:
tnhnrl 62:d502889e74f1 813 receive_packet_size = incoming_byte;
tnhnrl 62:d502889e74f1 814 //pc().printf("DEBUG: Case PACKET_SIZE\n\r");
tnhnrl 62:d502889e74f1 815
tnhnrl 62:d502889e74f1 816 //write the header stuff to it
tnhnrl 62:d502889e74f1 817 char_buffer[0] = 117;
tnhnrl 62:d502889e74f1 818 char_buffer[1] = 101;
tnhnrl 62:d502889e74f1 819 char_buffer[2] = receive_packet_number;
tnhnrl 62:d502889e74f1 820 char_buffer[3] = receive_total_number_packets;
tnhnrl 62:d502889e74f1 821 char_buffer[4] = receive_packet_size;
tnhnrl 62:d502889e74f1 822
tnhnrl 62:d502889e74f1 823 // tests confirmed that packet number is zero, number of packets is 12, packet size is 12
tnhnrl 62:d502889e74f1 824 //pc().printf("char_buffer 2/3/4: %d %d %d\n\r", receive_packet_number,receive_total_number_packets,receive_packet_size);
tnhnrl 68:8f549749b8ce 825
tnhnrl 62:d502889e74f1 826 //process packet data, future version will append for larger data sizes, 0xFFFF
tnhnrl 62:d502889e74f1 827
tnhnrl 62:d502889e74f1 828 // IF YOU GET AN INTERRUPTED DATA STREAM YOU NEED TO BREAK OUT OF THE LOOP
tnhnrl 62:d502889e74f1 829 i = 5;
tnhnrl 62:d502889e74f1 830 serial_timeout = 0;
tnhnrl 62:d502889e74f1 831
tnhnrl 62:d502889e74f1 832 while (true) {
tnhnrl 62:d502889e74f1 833 if (pc().readable()) {
tnhnrl 62:d502889e74f1 834 char_buffer[i] = pc().getc(); //read all of the data packets
tnhnrl 62:d502889e74f1 835 i++;
tnhnrl 62:d502889e74f1 836
tnhnrl 62:d502889e74f1 837 serial_timeout = 0; //reset the timeout
tnhnrl 62:d502889e74f1 838 }
tnhnrl 62:d502889e74f1 839 else {
tnhnrl 62:d502889e74f1 840 serial_timeout++;
tnhnrl 62:d502889e74f1 841 }
tnhnrl 62:d502889e74f1 842
tnhnrl 62:d502889e74f1 843 // When full data packet is received...
tnhnrl 62:d502889e74f1 844 if (i >= receive_packet_size+5) { //cannot do this properly with a for loop
tnhnrl 62:d502889e74f1 845 //get checksum bytes
tnhnrl 62:d502889e74f1 846 checksum_one = pc().getc();
tnhnrl 62:d502889e74f1 847 checksum_two = pc().getc();
tnhnrl 62:d502889e74f1 848
tnhnrl 62:d502889e74f1 849 //calculate the CRC from the header and data bytes using _data_packet (vector)
tnhnrl 62:d502889e74f1 850 //found out calculating crc with string was dropping empty or null spaces
tnhnrl 62:d502889e74f1 851 _data_packet.clear(); //clear it just in case
tnhnrl 62:d502889e74f1 852
tnhnrl 62:d502889e74f1 853 for (int a = 0; a < receive_packet_size+5; a++) {
tnhnrl 62:d502889e74f1 854 _data_packet.push_back(char_buffer[a]); //push the character array into the buffer
tnhnrl 62:d502889e74f1 855 }
tnhnrl 62:d502889e74f1 856
tnhnrl 62:d502889e74f1 857 //calculate the CRC using the vector (strings will cut off null characters)
tnhnrl 62:d502889e74f1 858 int calc_crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 859 int calc_crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 860
tnhnrl 62:d502889e74f1 861 //pc().printf("DEBUG: calc crc 1: %d, crc 2: %d\n\r", calc_crc_one, calc_crc_two);
tnhnrl 62:d502889e74f1 862
tnhnrl 62:d502889e74f1 863 // first confirm that the checksum is correct
tnhnrl 62:d502889e74f1 864 if ((calc_crc_one == checksum_one) and (calc_crc_two == checksum_two)) {
tnhnrl 62:d502889e74f1 865 // CHECKSUM CORRECT & get the filename from the first packet (check that you receive first packet)
tnhnrl 62:d502889e74f1 866 if (receive_packet_number == 0) {
tnhnrl 62:d502889e74f1 867 char temp_char[receive_packet_size+1]; //temp array for memcpy
tnhnrl 62:d502889e74f1 868 memset(&temp_char[0], 0, sizeof(temp_char)); //clear full array (or get random characters)
tnhnrl 62:d502889e74f1 869 strncpy(temp_char, char_buffer + 5 /* Offset */, receive_packet_size*sizeof(char) /* Length */); //memcpy introduced random characters
tnhnrl 62:d502889e74f1 870
tnhnrl 62:d502889e74f1 871 //have to terminate the string with '\0'
tnhnrl 62:d502889e74f1 872 temp_char[receive_packet_size] = '\0';
tnhnrl 62:d502889e74f1 873
tnhnrl 62:d502889e74f1 874 //pc().printf("\n\rDEBUG: ------ Filename? <<%s>>\n\r", temp_char);
tnhnrl 62:d502889e74f1 875 _received_filename = temp_char;
tnhnrl 62:d502889e74f1 876
tnhnrl 62:d502889e74f1 877 //pc().printf("\n\rDEBUG: _received_filename <<%s>>\n\r", _received_filename);
tnhnrl 62:d502889e74f1 878
tnhnrl 62:d502889e74f1 879 //open a file for writing
tnhnrl 62:d502889e74f1 880 openReceiveFile(_received_filename);
tnhnrl 62:d502889e74f1 881
tnhnrl 62:d502889e74f1 882 //send a reply to Python transmit program
tnhnrl 62:d502889e74f1 883 sendReply();
tnhnrl 62:d502889e74f1 884
tnhnrl 62:d502889e74f1 885 led3() = 1;
tnhnrl 62:d502889e74f1 886
tnhnrl 62:d502889e74f1 887 // even if correct CRC, counter prevents the program from writing the same packet twice
tnhnrl 62:d502889e74f1 888 _confirmed_packet_number++;
tnhnrl 62:d502889e74f1 889 }
tnhnrl 62:d502889e74f1 890
tnhnrl 62:d502889e74f1 891 // check if the packet that you're receiving (receive_packet_number) has been received already...
tnhnrl 62:d502889e74f1 892
tnhnrl 62:d502889e74f1 893 //CHECKSUM CORRECT & packet numbers that are 1 through N packets
tnhnrl 62:d502889e74f1 894 else if (receive_packet_number == _confirmed_packet_number){
tnhnrl 62:d502889e74f1 895 //save the data (char buffer) to the file if both checksums work...
tnhnrl 62:d502889e74f1 896
tnhnrl 62:d502889e74f1 897 // when a packet is received (successfully) send a reply
tnhnrl 62:d502889e74f1 898 sendReply();
tnhnrl 62:d502889e74f1 899
tnhnrl 62:d502889e74f1 900 // write correct data to file
tnhnrl 62:d502889e74f1 901 fprintf(_fp, "%s", char_buffer+5);
tnhnrl 62:d502889e74f1 902
tnhnrl 62:d502889e74f1 903 // even if correct CRC, counter prevents the program from writing the same packet twice
tnhnrl 62:d502889e74f1 904 _confirmed_packet_number++;
tnhnrl 62:d502889e74f1 905 }
tnhnrl 62:d502889e74f1 906
tnhnrl 62:d502889e74f1 907 //clear the variables
tnhnrl 62:d502889e74f1 908 checksum_one = -1;
tnhnrl 62:d502889e74f1 909 checksum_two = -1;
tnhnrl 62:d502889e74f1 910 }
tnhnrl 62:d502889e74f1 911
tnhnrl 62:d502889e74f1 912 process_state = HEADER_117;
tnhnrl 62:d502889e74f1 913
tnhnrl 62:d502889e74f1 914 break;
tnhnrl 62:d502889e74f1 915 }
tnhnrl 62:d502889e74f1 916
tnhnrl 62:d502889e74f1 917 //counter breaks out of the loop if no data received
tnhnrl 62:d502889e74f1 918 if (serial_timeout >= 10000) {
tnhnrl 62:d502889e74f1 919 //pc().printf("break serial_timeout %d\n\r", serial_timeout);
tnhnrl 62:d502889e74f1 920 break;
tnhnrl 62:d502889e74f1 921 }
tnhnrl 62:d502889e74f1 922 }
tnhnrl 62:d502889e74f1 923 break;
tnhnrl 62:d502889e74f1 924
tnhnrl 62:d502889e74f1 925 case END_TRANSMISSION:
tnhnrl 62:d502889e74f1 926 if (pc().getc() == 16) {
tnhnrl 62:d502889e74f1 927 pc().printf("DEBUG: END_TRANSMISSION REACHED: 1. \n\r");
tnhnrl 62:d502889e74f1 928
tnhnrl 62:d502889e74f1 929 if (pc().getc() == 16) {
tnhnrl 62:d502889e74f1 930 pc().printf("DEBUG: END_TRANSMISSION REACHED: 2. \n\r");
tnhnrl 62:d502889e74f1 931
tnhnrl 62:d502889e74f1 932 endReceiveData();
tnhnrl 62:d502889e74f1 933 }
tnhnrl 62:d502889e74f1 934 }
tnhnrl 62:d502889e74f1 935
tnhnrl 62:d502889e74f1 936 pc().printf("DEBUG: END_TRANSMISSION REACHED: 5. \n\r");
tnhnrl 62:d502889e74f1 937
tnhnrl 62:d502889e74f1 938 //process_state = HEADER_117; //don't do this unless the check is wrong
tnhnrl 62:d502889e74f1 939 pc().printf("END_TRANSMISSION process_state is %d\n\r", process_state); //should be 5 (debug) 02/06/2018
tnhnrl 62:d502889e74f1 940 data_transmission_complete = true;
tnhnrl 62:d502889e74f1 941 break;
tnhnrl 62:d502889e74f1 942 }//END OF SWITCH
tnhnrl 62:d502889e74f1 943
tnhnrl 62:d502889e74f1 944 if (data_transmission_complete) {
tnhnrl 62:d502889e74f1 945 pc().printf("DEBUG: checkForIncomingData data_transmission_complete \n\r");
tnhnrl 62:d502889e74f1 946 break; //out of while loop
tnhnrl 62:d502889e74f1 947 }
tnhnrl 62:d502889e74f1 948 } // while loop
tnhnrl 62:d502889e74f1 949
tnhnrl 62:d502889e74f1 950 led3() = !led3();
tnhnrl 62:d502889e74f1 951
tnhnrl 62:d502889e74f1 952 if (data_transmission_complete)
tnhnrl 62:d502889e74f1 953 return false; //tell state machine class that this is done (not transmitting, false)
tnhnrl 62:d502889e74f1 954 else {
tnhnrl 62:d502889e74f1 955 return true;
tnhnrl 62:d502889e74f1 956 }
tnhnrl 62:d502889e74f1 957 }
tnhnrl 62:d502889e74f1 958
tnhnrl 62:d502889e74f1 959 int MbedLogger::sendReply() {
tnhnrl 62:d502889e74f1 960 //being explicit in what's being transmitted
tnhnrl 62:d502889e74f1 961
tnhnrl 62:d502889e74f1 962 //change this method to be more explicit later
tnhnrl 62:d502889e74f1 963
tnhnrl 62:d502889e74f1 964 //integer vector _data_packet is used here, cleared fist just in case
tnhnrl 62:d502889e74f1 965
tnhnrl 62:d502889e74f1 966 _data_packet.clear(); //same data packet for transmission
tnhnrl 62:d502889e74f1 967 _data_packet.push_back(117);
tnhnrl 62:d502889e74f1 968 _data_packet.push_back(101);
tnhnrl 62:d502889e74f1 969
tnhnrl 62:d502889e74f1 970 //_confirmed_packet_number comes from the packet number that is sent from the Python program
tnhnrl 62:d502889e74f1 971 _data_packet.push_back(_confirmed_packet_number / 256); //packet number only changed when confirmed
tnhnrl 62:d502889e74f1 972 _data_packet.push_back(_confirmed_packet_number % 256); //split into first and second byte
tnhnrl 62:d502889e74f1 973
tnhnrl 62:d502889e74f1 974 //compute checksums
tnhnrl 62:d502889e74f1 975
tnhnrl 62:d502889e74f1 976 int receiver_crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 977 int receiver_crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 978
tnhnrl 62:d502889e74f1 979 _data_packet.push_back(receiver_crc_one);
tnhnrl 62:d502889e74f1 980 _data_packet.push_back(receiver_crc_two);
tnhnrl 62:d502889e74f1 981
tnhnrl 62:d502889e74f1 982 //transmit this packet
tnhnrl 62:d502889e74f1 983 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++) {
tnhnrl 62:d502889e74f1 984 pc().putc(*_it); //send integers over serial port one byte at a time
tnhnrl 62:d502889e74f1 985 }
tnhnrl 62:d502889e74f1 986
tnhnrl 62:d502889e74f1 987 //change process methodology later...
tnhnrl 62:d502889e74f1 988
tnhnrl 62:d502889e74f1 989 return _confirmed_packet_number;
tnhnrl 62:d502889e74f1 990 }
tnhnrl 62:d502889e74f1 991
tnhnrl 62:d502889e74f1 992 void MbedLogger::endReceiveData() { //DLE character * 4 ==> 10 10 10 10
tnhnrl 62:d502889e74f1 993 closeLogFile(); //close the file here
tnhnrl 62:d502889e74f1 994 pc().printf("endReceiveData closed the file and ended transmission\n\r");
tnhnrl 62:d502889e74f1 995 }
tnhnrl 62:d502889e74f1 996
tnhnrl 62:d502889e74f1 997 //calculate the crc with an integer array
tnhnrl 62:d502889e74f1 998 int MbedLogger::calcCrcOneArray(int *input_array, int array_length) {
tnhnrl 62:d502889e74f1 999 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 1000 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 1001 int crc = 0;
tnhnrl 62:d502889e74f1 1002 for (int z = 0; z < array_length; z++) {
tnhnrl 62:d502889e74f1 1003 crc = (crc_table[(input_array[z] ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1004 }
tnhnrl 62:d502889e74f1 1005 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1006 }
tnhnrl 62:d502889e74f1 1007
tnhnrl 62:d502889e74f1 1008 int MbedLogger::calcCrcTwoArray(int *input_array, int array_length) {
tnhnrl 62:d502889e74f1 1009 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 1010 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 1011 int crc = 0;
tnhnrl 62:d502889e74f1 1012 for (int z = 0; z < array_length; z++) {
tnhnrl 62:d502889e74f1 1013 crc = (crc_table[(input_array[z] ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1014 }
tnhnrl 62:d502889e74f1 1015 return crc % 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1016 }
tnhnrl 62:d502889e74f1 1017
tnhnrl 62:d502889e74f1 1018 int MbedLogger::calcCrcOne() {
tnhnrl 62:d502889e74f1 1019 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 1020 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 1021
tnhnrl 62:d502889e74f1 1022 int crc = 0;
tnhnrl 62:d502889e74f1 1023 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++)
tnhnrl 62:d502889e74f1 1024 crc = (crc_table[(*_it ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1025
tnhnrl 62:d502889e74f1 1026 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1027 }
tnhnrl 62:d502889e74f1 1028
tnhnrl 62:d502889e74f1 1029 int MbedLogger::calcCrcTwo() {
tnhnrl 62:d502889e74f1 1030 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 1031
tnhnrl 62:d502889e74f1 1032 int crc = 0;
tnhnrl 62:d502889e74f1 1033 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++)
tnhnrl 62:d502889e74f1 1034 crc = (crc_table[(*_it ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1035
tnhnrl 62:d502889e74f1 1036 //pc().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_array.length(), crc % 256);
tnhnrl 62:d502889e74f1 1037
tnhnrl 62:d502889e74f1 1038 return crc % 256; //last byte
tnhnrl 62:d502889e74f1 1039 }
tnhnrl 62:d502889e74f1 1040
tnhnrl 62:d502889e74f1 1041 void MbedLogger::resetReplyPacket() {
tnhnrl 62:d502889e74f1 1042 _confirmed_packet_number = 0;
tnhnrl 62:d502889e74f1 1043 }
tnhnrl 62:d502889e74f1 1044
tnhnrl 62:d502889e74f1 1045 void MbedLogger::openNewMissionFile() {
tnhnrl 62:d502889e74f1 1046 pc().printf("Opening Mission file (sequence.txt) for reception.\n\r");
tnhnrl 62:d502889e74f1 1047 string filename_string = _file_system_string + "sequence.txt";
tnhnrl 62:d502889e74f1 1048
tnhnrl 62:d502889e74f1 1049 pc().printf("openNewMissionFile: %s\n\r", filename_string.c_str());
tnhnrl 62:d502889e74f1 1050
tnhnrl 62:d502889e74f1 1051 _fp = fopen(filename_string.c_str(), "w");
tnhnrl 62:d502889e74f1 1052 }
tnhnrl 62:d502889e74f1 1053
tnhnrl 62:d502889e74f1 1054 void MbedLogger::openReceiveFile(string filename) {
tnhnrl 62:d502889e74f1 1055 string filename_string = _file_system_string + filename; //example "sequence.txt"
tnhnrl 62:d502889e74f1 1056
tnhnrl 62:d502889e74f1 1057 _fp = fopen(filename_string.c_str(), "w"); //open a file for writing
tnhnrl 62:d502889e74f1 1058 }
tnhnrl 62:d502889e74f1 1059
tnhnrl 62:d502889e74f1 1060 void MbedLogger::setDataCounter(int input_counter) {
tnhnrl 62:d502889e74f1 1061 _transmit_counter = input_counter;
tnhnrl 62:d502889e74f1 1062 }
tnhnrl 62:d502889e74f1 1063
tnhnrl 62:d502889e74f1 1064 void MbedLogger::closeIncompleteFile() {
tnhnrl 62:d502889e74f1 1065 fprintf(_fp, "TRANSMISSION INTERRUPTED!"); //write this warning to the file
tnhnrl 62:d502889e74f1 1066 closeLogFile(); //close file
tnhnrl 62:d502889e74f1 1067 }
tnhnrl 62:d502889e74f1 1068
tnhnrl 62:d502889e74f1 1069 void MbedLogger::appendLogFile(int current_state, int option) {
tnhnrl 62:d502889e74f1 1070 //option one means write to file
tnhnrl 62:d502889e74f1 1071
tnhnrl 62:d502889e74f1 1072 if (option == 1) {
tnhnrl 62:d502889e74f1 1073 if (!_fp) { //if not present
tnhnrl 62:d502889e74f1 1074 _fp = fopen(_full_file_path_string.c_str(), "a");
tnhnrl 62:d502889e74f1 1075 }
tnhnrl 62:d502889e74f1 1076
tnhnrl 62:d502889e74f1 1077 //record data using the recordData function (takes in the state integer)
tnhnrl 62:d502889e74f1 1078 recordData(current_state);
tnhnrl 62:d502889e74f1 1079 }
tnhnrl 62:d502889e74f1 1080
tnhnrl 62:d502889e74f1 1081 else {
tnhnrl 62:d502889e74f1 1082 closeLogFile();
tnhnrl 62:d502889e74f1 1083 }
tnhnrl 62:d502889e74f1 1084 }
tnhnrl 62:d502889e74f1 1085
tnhnrl 62:d502889e74f1 1086 // initialize and close the file
tnhnrl 62:d502889e74f1 1087 // log file freezes at 0x0000006c
tnhnrl 62:d502889e74f1 1088 void MbedLogger::initializeLogFile() {
tnhnrl 62:d502889e74f1 1089 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 1090 pc().printf("%s file system init\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 1091
tnhnrl 62:d502889e74f1 1092 //try to open this file...
tnhnrl 62:d502889e74f1 1093 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 1094
tnhnrl 62:d502889e74f1 1095 //if the file is empty, create this.
tnhnrl 62:d502889e74f1 1096 if (!_fp) {
tnhnrl 62:d502889e74f1 1097 _fp = fopen(file_name_string.c_str(), "w"); //write,print,close
tnhnrl 67:c86a4b464682 1098 //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 1099 fprintf(_fp,_heading_string.c_str());
tnhnrl 62:d502889e74f1 1100 closeLogFile();
tnhnrl 62:d502889e74f1 1101 }
tnhnrl 62:d502889e74f1 1102 else
tnhnrl 62:d502889e74f1 1103 closeLogFile(); //close the opened read file
tnhnrl 62:d502889e74f1 1104 }
tnhnrl 62:d502889e74f1 1105
tnhnrl 62:d502889e74f1 1106 int MbedLogger::fileTransmitState() {
tnhnrl 62:d502889e74f1 1107 return _file_transmission_state;
tnhnrl 62:d502889e74f1 1108 }
tnhnrl 62:d502889e74f1 1109
tnhnrl 62:d502889e74f1 1110 int MbedLogger::calcCrcOneString (string input_string) {
tnhnrl 62:d502889e74f1 1111 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 1112
tnhnrl 62:d502889e74f1 1113 int crc = 0;
tnhnrl 62:d502889e74f1 1114 for (unsigned int i = 0; i < input_string.length(); i++) {
tnhnrl 62:d502889e74f1 1115 //convert each character to an integer
tnhnrl 62:d502889e74f1 1116 int character_to_integer = input_string[i]; //correct
tnhnrl 62:d502889e74f1 1117
tnhnrl 62:d502889e74f1 1118 crc = (crc_table[(character_to_integer ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1119 }
tnhnrl 62:d502889e74f1 1120
tnhnrl 62:d502889e74f1 1121 //pc().printf("DEBUG: calcCrcOne string length: %d crc: %d\n\r", input_string.length(), crc/256);
tnhnrl 62:d502889e74f1 1122
tnhnrl 62:d502889e74f1 1123 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1124 }
tnhnrl 62:d502889e74f1 1125
tnhnrl 62:d502889e74f1 1126 int MbedLogger::calcCrcTwoString (string input_string) {
tnhnrl 62:d502889e74f1 1127 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 1128
tnhnrl 62:d502889e74f1 1129 int crc = 0;
tnhnrl 62:d502889e74f1 1130 for (unsigned int i = 0; i < input_string.length(); i++) {
tnhnrl 62:d502889e74f1 1131 //convert each character to an integer
tnhnrl 62:d502889e74f1 1132 int character_to_integer = input_string[i]; //correct
tnhnrl 62:d502889e74f1 1133
tnhnrl 62:d502889e74f1 1134 crc = (crc_table[(character_to_integer ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1135 }
tnhnrl 62:d502889e74f1 1136
tnhnrl 62:d502889e74f1 1137 //pc().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_string.length(), crc % 256);
tnhnrl 62:d502889e74f1 1138
tnhnrl 62:d502889e74f1 1139 return crc % 256; //last byte
tnhnrl 62:d502889e74f1 1140 }
tnhnrl 62:d502889e74f1 1141
tnhnrl 62:d502889e74f1 1142 void MbedLogger::createEmptyLog() {
tnhnrl 62:d502889e74f1 1143 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 67:c86a4b464682 1144 string empty_log = "EMPTY LOG";
tnhnrl 62:d502889e74f1 1145
tnhnrl 62:d502889e74f1 1146 _fp = fopen(file_name_string.c_str(), "w");
tnhnrl 67:c86a4b464682 1147
tnhnrl 67:c86a4b464682 1148 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 1149 closeLogFile();
tnhnrl 62:d502889e74f1 1150 }
tnhnrl 62:d502889e74f1 1151
tnhnrl 62:d502889e74f1 1152 int MbedLogger::getFileSize(string filename) {
tnhnrl 62:d502889e74f1 1153 // fixed the const char * errror:
tnhnrl 62:d502889e74f1 1154 // https://stackoverflow.com/questions/347949/how-to-convert-a-stdstring-to-const-char-or-char
tnhnrl 62:d502889e74f1 1155 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 1156 //http://www.cplusplus.com/reference/string/string/c_str/
tnhnrl 62:d502889e74f1 1157
tnhnrl 62:d502889e74f1 1158 _fp = fopen(filename.c_str(), "rb"); //open the file for reading as a binary file
tnhnrl 62:d502889e74f1 1159
tnhnrl 62:d502889e74f1 1160 fseek(_fp, 0, SEEK_END); //SEEK_END is a constant in cstdio (end of the file)
tnhnrl 62:d502889e74f1 1161 unsigned int file_size = ftell(_fp); //For binary streams, this is the number of bytes from the beginning of the file.
tnhnrl 62:d502889e74f1 1162 fseek(_fp, 0, SEEK_SET); //SEEK_SET is hte beginning of the file, not sure this is necessary
tnhnrl 62:d502889e74f1 1163
tnhnrl 62:d502889e74f1 1164 closeLogFile(); //can probably just close the file pointer and not worry about position
tnhnrl 62:d502889e74f1 1165
tnhnrl 62:d502889e74f1 1166 pc().printf("%s file size is %d\n\r", filename.c_str(), file_size);
tnhnrl 62:d502889e74f1 1167
tnhnrl 62:d502889e74f1 1168 return file_size;
tnhnrl 62:d502889e74f1 1169 }
tnhnrl 62:d502889e74f1 1170
tnhnrl 62:d502889e74f1 1171 int MbedLogger::debugFileState() {
tnhnrl 62:d502889e74f1 1172 pc().printf("What is _fp right now? %p\n\r", _fp); //pointer notation
tnhnrl 62:d502889e74f1 1173
tnhnrl 62:d502889e74f1 1174 if (_fp)
tnhnrl 62:d502889e74f1 1175 return 1; //file pointer does exist
tnhnrl 62:d502889e74f1 1176 else
tnhnrl 62:d502889e74f1 1177 return 0; //file pointer does not exist
tnhnrl 62:d502889e74f1 1178 }
tnhnrl 62:d502889e74f1 1179
tnhnrl 62:d502889e74f1 1180 void MbedLogger::specifyFileForTransmit(string input_string) {
tnhnrl 62:d502889e74f1 1181 pc().printf("specifyFileForTransmit\n\r");
tnhnrl 62:d502889e74f1 1182
tnhnrl 62:d502889e74f1 1183 string file_string = _file_system_string + input_string;
tnhnrl 62:d502889e74f1 1184
tnhnrl 62:d502889e74f1 1185 pc().printf("file_string is <%s>\n\r", file_string.c_str());
tnhnrl 62:d502889e74f1 1186
tnhnrl 62:d502889e74f1 1187 //open this file to read
tnhnrl 62:d502889e74f1 1188 _fp = fopen(file_string.c_str(), "r");
tnhnrl 62:d502889e74f1 1189
tnhnrl 62:d502889e74f1 1190 //transmit that file
tnhnrl 62:d502889e74f1 1191 //transmitDataWithTicker(); //replaced ticker
tnhnrl 62:d502889e74f1 1192
tnhnrl 62:d502889e74f1 1193 _file_transmission = true;
tnhnrl 62:d502889e74f1 1194 }
tnhnrl 62:d502889e74f1 1195
tnhnrl 62:d502889e74f1 1196 void MbedLogger::transmitFileFromDirectory( int file_number ) {
tnhnrl 62:d502889e74f1 1197 file_number = file_number + 1; //to get the correct number
tnhnrl 62:d502889e74f1 1198
tnhnrl 62:d502889e74f1 1199 DIR *dir;
tnhnrl 62:d502889e74f1 1200 struct dirent *dp; //dirent.h is the format of directory entries
tnhnrl 62:d502889e74f1 1201 int log_found =0, loop=1; //start file numbers at 1
tnhnrl 62:d502889e74f1 1202 long int temp=0;
tnhnrl 62:d502889e74f1 1203
tnhnrl 62:d502889e74f1 1204 // char * char_pointer;
tnhnrl 62:d502889e74f1 1205 // char * numstart, *numstop;
tnhnrl 62:d502889e74f1 1206
tnhnrl 62:d502889e74f1 1207 if ( NULL == (dir = opendir( _file_system_string.c_str() )) ) {
tnhnrl 62:d502889e74f1 1208 pc().printf("MBED directory could not be opened\r\n");
tnhnrl 62:d502889e74f1 1209 }
tnhnrl 62:d502889e74f1 1210 else
tnhnrl 62:d502889e74f1 1211 {
tnhnrl 62:d502889e74f1 1212 while ( NULL != (dp = readdir( dir )) )
tnhnrl 62:d502889e74f1 1213 {
tnhnrl 62:d502889e74f1 1214 pc().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
tnhnrl 62:d502889e74f1 1215
tnhnrl 62:d502889e74f1 1216 //process current file if it matches the file number
tnhnrl 62:d502889e74f1 1217 if (file_number == loop) {
tnhnrl 62:d502889e74f1 1218 char * current_file_name = dp->d_name; //pointer to this char array
tnhnrl 62:d502889e74f1 1219
tnhnrl 62:d502889e74f1 1220 specifyFileForTransmit(current_file_name);
tnhnrl 62:d502889e74f1 1221
tnhnrl 62:d502889e74f1 1222 break;
tnhnrl 62:d502889e74f1 1223 }
tnhnrl 62:d502889e74f1 1224
tnhnrl 62:d502889e74f1 1225 loop++;
tnhnrl 62:d502889e74f1 1226 }
tnhnrl 62:d502889e74f1 1227 }
tnhnrl 62:d502889e74f1 1228 }
tnhnrl 62:d502889e74f1 1229
tnhnrl 62:d502889e74f1 1230 void MbedLogger::accessMbedDirectory() {
tnhnrl 62:d502889e74f1 1231 printMbedDirectory();
tnhnrl 62:d502889e74f1 1232
tnhnrl 62:d502889e74f1 1233 pc().printf("Type in the number of the file you want to transmit.\n\r");
tnhnrl 62:d502889e74f1 1234
tnhnrl 62:d502889e74f1 1235 char message[42];
tnhnrl 62:d502889e74f1 1236
tnhnrl 62:d502889e74f1 1237 pc().scanf("%41s", message);
tnhnrl 62:d502889e74f1 1238
tnhnrl 62:d502889e74f1 1239 pc().printf("Input received!\n\r");
tnhnrl 62:d502889e74f1 1240
tnhnrl 62:d502889e74f1 1241 //check if char array is an integer
tnhnrl 62:d502889e74f1 1242 char* conversion_pointer;
tnhnrl 62:d502889e74f1 1243 long converted = strtol(message, &conversion_pointer, 10);
tnhnrl 62:d502889e74f1 1244
tnhnrl 62:d502889e74f1 1245 if (*conversion_pointer) {
tnhnrl 62:d502889e74f1 1246 //conversion failed because the input was not a number
tnhnrl 62:d502889e74f1 1247 pc().printf("NOT A VALID FILE NUMBER!\n\r");
tnhnrl 62:d502889e74f1 1248 }
tnhnrl 62:d502889e74f1 1249 else {
tnhnrl 62:d502889e74f1 1250 //conversion worked!
tnhnrl 62:d502889e74f1 1251 pc().printf("You chose file number: %d\n\r", converted);
tnhnrl 62:d502889e74f1 1252
tnhnrl 62:d502889e74f1 1253 // transmit the file
tnhnrl 62:d502889e74f1 1254 transmitFileFromDirectory(converted);
tnhnrl 62:d502889e74f1 1255 }
tnhnrl 62:d502889e74f1 1256 }
tnhnrl 62:d502889e74f1 1257
tnhnrl 62:d502889e74f1 1258 void MbedLogger::closeLogFile() {
tnhnrl 68:8f549749b8ce 1259 led4() = 1;
tnhnrl 68:8f549749b8ce 1260
tnhnrl 62:d502889e74f1 1261 if (_fp == NULL){
tnhnrl 62:d502889e74f1 1262 pc().printf("MbedLogger: (%s) LOG FILE WAS ALREADY CLOSED!\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 1263 }
tnhnrl 62:d502889e74f1 1264
tnhnrl 62:d502889e74f1 1265 else {
tnhnrl 62:d502889e74f1 1266 pc().printf("MbedLogger: (%s) CLOSING LOG FILE!\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 1267
tnhnrl 62:d502889e74f1 1268 //close file
tnhnrl 62:d502889e74f1 1269 fclose(_fp);
tnhnrl 62:d502889e74f1 1270
tnhnrl 62:d502889e74f1 1271 _fp = NULL; //set pointer to zero
tnhnrl 62:d502889e74f1 1272 }
tnhnrl 62:d502889e74f1 1273 }
tnhnrl 62:d502889e74f1 1274
tnhnrl 62:d502889e74f1 1275 void MbedLogger::activateReceivePacket() {
tnhnrl 62:d502889e74f1 1276 _mbed_receive_loop = true;
tnhnrl 62:d502889e74f1 1277 }
tnhnrl 62:d502889e74f1 1278
tnhnrl 62:d502889e74f1 1279 void MbedLogger::receiveMissionDataWithFSM() {
tnhnrl 62:d502889e74f1 1280 checkForIncomingData();
tnhnrl 62:d502889e74f1 1281
tnhnrl 62:d502889e74f1 1282 // Example: send reply 75 65 00 00
tnhnrl 62:d502889e74f1 1283 // Example: send reply 75 65 00 01
tnhnrl 62:d502889e74f1 1284 }
tnhnrl 62:d502889e74f1 1285
tnhnrl 62:d502889e74f1 1286 void MbedLogger::receiveMissionDataWithTicker() {
tnhnrl 62:d502889e74f1 1287 openNewMissionFile(); //sequence.txt file opened
tnhnrl 62:d502889e74f1 1288
tnhnrl 62:d502889e74f1 1289 _mbed_receive_ticker.attach(callback(this, &MbedLogger::activateReceivePacket), 0.5);
tnhnrl 62:d502889e74f1 1290
tnhnrl 62:d502889e74f1 1291 pc().printf("\n\r02/09/2018 MbedLogger receiveMissionData Beginning to receive sequence data...\n\r");
tnhnrl 62:d502889e74f1 1292
tnhnrl 62:d502889e74f1 1293 resetReplyPacket(); //reset the reply packet
tnhnrl 62:d502889e74f1 1294
tnhnrl 62:d502889e74f1 1295 //idea for stopping this if data not being received
tnhnrl 62:d502889e74f1 1296 int current_packet_number = 0;
tnhnrl 62:d502889e74f1 1297 int last_packet_number = -1;
tnhnrl 62:d502889e74f1 1298 int break_transmission = 0;
tnhnrl 62:d502889e74f1 1299
tnhnrl 62:d502889e74f1 1300 while(1) {
tnhnrl 62:d502889e74f1 1301 //runs at 10 hz
tnhnrl 62:d502889e74f1 1302 if (_mbed_receive_loop) {
tnhnrl 62:d502889e74f1 1303 if (!checkForIncomingData()) { // run this until it finishes
tnhnrl 62:d502889e74f1 1304 //when you complete data reception, this will become false
tnhnrl 62:d502889e74f1 1305 pc().printf("\n\rMbedLogger: Data RECEPTION complete.\n\r");
tnhnrl 62:d502889e74f1 1306 _mbed_receive_ticker.detach();
tnhnrl 62:d502889e74f1 1307 break;
tnhnrl 62:d502889e74f1 1308 }
tnhnrl 62:d502889e74f1 1309 else {
tnhnrl 62:d502889e74f1 1310
tnhnrl 62:d502889e74f1 1311 // SEND REPLY 75 65 00 00
tnhnrl 62:d502889e74f1 1312 // SEND REPLY 75 65 00 01
tnhnrl 62:d502889e74f1 1313
tnhnrl 62:d502889e74f1 1314 //check if you keep getting the same thing
tnhnrl 62:d502889e74f1 1315 current_packet_number = sendReply();
tnhnrl 62:d502889e74f1 1316
tnhnrl 62:d502889e74f1 1317 //pc().printf("DEBUG: current packet number %d (last packet number %d) \n\r", current_packet_number, last_packet_number); //debug
tnhnrl 62:d502889e74f1 1318
tnhnrl 62:d502889e74f1 1319 //let this count up a few times before it exits
tnhnrl 62:d502889e74f1 1320 if (current_packet_number == last_packet_number) {
tnhnrl 62:d502889e74f1 1321 break_transmission++;
tnhnrl 62:d502889e74f1 1322
tnhnrl 62:d502889e74f1 1323 //break transmission after 50 failed attempts (was 100)
tnhnrl 62:d502889e74f1 1324 if (break_transmission >= 50) {
tnhnrl 62:d502889e74f1 1325 closeIncompleteFile(); //close the file
tnhnrl 62:d502889e74f1 1326 _mbed_receive_ticker.detach();
tnhnrl 62:d502889e74f1 1327 pc().printf("MbedLogger: TRANSMISSION INTERRUPTED!\n\r");
tnhnrl 62:d502889e74f1 1328 break;
tnhnrl 62:d502889e74f1 1329 }
tnhnrl 62:d502889e74f1 1330 }
tnhnrl 62:d502889e74f1 1331 else
tnhnrl 62:d502889e74f1 1332 last_packet_number = current_packet_number;
tnhnrl 62:d502889e74f1 1333 }
tnhnrl 62:d502889e74f1 1334 _mbed_receive_loop = false; // wait until the loop rate timer fires again
tnhnrl 62:d502889e74f1 1335 }
tnhnrl 62:d502889e74f1 1336 }
tnhnrl 62:d502889e74f1 1337 }
tnhnrl 62:d502889e74f1 1338
tnhnrl 62:d502889e74f1 1339 int MbedLogger::getNumberOfPackets() {
tnhnrl 62:d502889e74f1 1340 return _total_number_of_packets;
tnhnrl 62:d502889e74f1 1341 }
tnhnrl 62:d502889e74f1 1342
tnhnrl 62:d502889e74f1 1343 //only do this for the MBED because of the limited file size
tnhnrl 62:d502889e74f1 1344 //write one line to the file (open to write, this will erase all other data) and close it.
tnhnrl 62:d502889e74f1 1345 void MbedLogger::eraseFile() {
tnhnrl 62:d502889e74f1 1346 _fp = fopen(_full_file_path_string.c_str(), "w"); // LOG000.csv
tnhnrl 62:d502889e74f1 1347
tnhnrl 67:c86a4b464682 1348 fprintf(_fp,_heading_string.c_str());
tnhnrl 67:c86a4b464682 1349
tnhnrl 67:c86a4b464682 1350 // _heading_string = "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,sys_amps,sys_volts\n(file erased)"
tnhnrl 62:d502889e74f1 1351
tnhnrl 62:d502889e74f1 1352 closeLogFile();
tnhnrl 62:d502889e74f1 1353 }
tnhnrl 62:d502889e74f1 1354
tnhnrl 62:d502889e74f1 1355 void MbedLogger::intCreateDataPacket(int data_buffer[],int payload_length) {
tnhnrl 62:d502889e74f1 1356 // packet is 7565 0001 FFFF EEEE CC DATA DATA DATA ... CRC1 CRC2
tnhnrl 62:d502889e74f1 1357
tnhnrl 62:d502889e74f1 1358 //check here https://www.rapidtables.com/convert/number/hex-to-decimal.html?x=01c0
tnhnrl 62:d502889e74f1 1359 // ieee 754: http://www6.uniovi.es/~antonio/uned/ieee754/IEEE-754hex32.html
tnhnrl 62:d502889e74f1 1360
tnhnrl 62:d502889e74f1 1361 //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
tnhnrl 62:d502889e74f1 1362 _data_packet.clear();
tnhnrl 62:d502889e74f1 1363
tnhnrl 62:d502889e74f1 1364 //DATA PACKET HEADER
tnhnrl 62:d502889e74f1 1365 _data_packet.push_back(117); //0x75
tnhnrl 62:d502889e74f1 1366 _data_packet.push_back(101); //0x65
tnhnrl 62:d502889e74f1 1367
tnhnrl 62:d502889e74f1 1368 _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 1369 _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 1370
tnhnrl 62:d502889e74f1 1371 _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 1372 _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 1373
tnhnrl 62:d502889e74f1 1374 _data_packet.push_back(_current_line_length);
tnhnrl 62:d502889e74f1 1375
tnhnrl 62:d502889e74f1 1376 //DATA FROM INTEGER ARRAY (read the array)
tnhnrl 62:d502889e74f1 1377 for (int i = 0; i < payload_length; i++) {
tnhnrl 62:d502889e74f1 1378 _data_packet.push_back(data_buffer[i]);
tnhnrl 62:d502889e74f1 1379 }
tnhnrl 62:d502889e74f1 1380
tnhnrl 62:d502889e74f1 1381 //CRC CALCULATIONS BELOW, character version of calculation screws up on null character 0x00, scrapped and using vector of integers
tnhnrl 62:d502889e74f1 1382 int crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 1383 int crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 1384
tnhnrl 62:d502889e74f1 1385 //place the crc bytes into the data packet that is transmitted
tnhnrl 62:d502889e74f1 1386 _data_packet.push_back(crc_one);
tnhnrl 62:d502889e74f1 1387 _data_packet.push_back(crc_two);
tnhnrl 62:d502889e74f1 1388 }
tnhnrl 62:d502889e74f1 1389
tnhnrl 62:d502889e74f1 1390 void MbedLogger::sendStatus() {
tnhnrl 62:d502889e74f1 1391 led3() = !led3();
tnhnrl 62:d502889e74f1 1392 //readPacketInSeries() //uses this functionality
tnhnrl 62:d502889e74f1 1393
tnhnrl 62:d502889e74f1 1394 //get data depth, pitch, heading, timer
tnhnrl 62:d502889e74f1 1395
tnhnrl 62:d502889e74f1 1396 //store the data as a hex char array
tnhnrl 62:d502889e74f1 1397 char hex_char_depth[256];
tnhnrl 62:d502889e74f1 1398 char hex_char_pitch[256];
tnhnrl 62:d502889e74f1 1399 char hex_char_heading[256];
tnhnrl 62:d502889e74f1 1400 char hex_char_timer[256];
tnhnrl 62:d502889e74f1 1401
tnhnrl 62:d502889e74f1 1402 string string_hex_buffer = ""; //buffer to store the hex data as a string
tnhnrl 62:d502889e74f1 1403 string string_temp; // ELIMINATE THIS ASAP
tnhnrl 62:d502889e74f1 1404
tnhnrl 62:d502889e74f1 1405 float depth_value = depthLoop().getPosition();
tnhnrl 62:d502889e74f1 1406 float pitch_value = imu().getPitch();
tnhnrl 62:d502889e74f1 1407 float heading_value = imu().getHeading();
tnhnrl 63:6cb0405fc6e6 1408 //float timer_value = stateMachine().getTimer();
tnhnrl 63:6cb0405fc6e6 1409 float timer_value = 123.123;
tnhnrl 62:d502889e74f1 1410
tnhnrl 62:d502889e74f1 1411 sprintf(hex_char_depth, "%08X" , *(unsigned int*)&depth_value);
tnhnrl 62:d502889e74f1 1412 sprintf(hex_char_pitch, "%08X" , *(unsigned int*)&pitch_value);
tnhnrl 62:d502889e74f1 1413 sprintf(hex_char_heading, "%08X" , *(unsigned int*)&heading_value);
tnhnrl 62:d502889e74f1 1414 sprintf(hex_char_timer, "%08X" , *(unsigned int*)&timer_value);
tnhnrl 62:d502889e74f1 1415
tnhnrl 62:d502889e74f1 1416 //store the integer values
tnhnrl 62:d502889e74f1 1417 int hex_to_int[128];
tnhnrl 62:d502889e74f1 1418
tnhnrl 62:d502889e74f1 1419 //read through hex string and break apart into chunks and save the decimal values
tnhnrl 62:d502889e74f1 1420 int hex_counter = 0;
tnhnrl 62:d502889e74f1 1421
tnhnrl 62:d502889e74f1 1422 //////////////////////////
tnhnrl 62:d502889e74f1 1423 string_hex_buffer = hex_char_depth;
tnhnrl 62:d502889e74f1 1424
tnhnrl 62:d502889e74f1 1425 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1426 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1427 string_temp = string_hex_buffer.substr(i,2); // get substring from string (converted from char array)
tnhnrl 62:d502889e74f1 1428
tnhnrl 62:d502889e74f1 1429 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1430 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1431 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1432 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1433
tnhnrl 62:d502889e74f1 1434 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1435 int decimal_value;
tnhnrl 62:d502889e74f1 1436 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1437
tnhnrl 62:d502889e74f1 1438 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1439 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1440
tnhnrl 62:d502889e74f1 1441 //clear the string each time
tnhnrl 62:d502889e74f1 1442 //string_temp = "";
tnhnrl 62:d502889e74f1 1443 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1444 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1445 }
tnhnrl 62:d502889e74f1 1446
tnhnrl 62:d502889e74f1 1447 string_hex_buffer = hex_char_pitch;
tnhnrl 62:d502889e74f1 1448
tnhnrl 62:d502889e74f1 1449 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1450 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1451 string_temp = string_hex_buffer.substr(i,2);
tnhnrl 62:d502889e74f1 1452
tnhnrl 62:d502889e74f1 1453 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1454 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1455 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1456 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1457
tnhnrl 62:d502889e74f1 1458 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1459 int decimal_value;
tnhnrl 62:d502889e74f1 1460 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1461
tnhnrl 62:d502889e74f1 1462 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1463 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1464
tnhnrl 62:d502889e74f1 1465 //clear the string each time
tnhnrl 62:d502889e74f1 1466 //string_temp = "";
tnhnrl 62:d502889e74f1 1467 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1468 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1469 }
tnhnrl 62:d502889e74f1 1470
tnhnrl 62:d502889e74f1 1471 string_hex_buffer = hex_char_heading;
tnhnrl 62:d502889e74f1 1472
tnhnrl 62:d502889e74f1 1473 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1474 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1475 string_temp = string_hex_buffer.substr(i,2);
tnhnrl 62:d502889e74f1 1476
tnhnrl 62:d502889e74f1 1477 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1478 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1479 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1480 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1481
tnhnrl 62:d502889e74f1 1482 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1483 int decimal_value;
tnhnrl 62:d502889e74f1 1484 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1485
tnhnrl 62:d502889e74f1 1486 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1487 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1488
tnhnrl 62:d502889e74f1 1489 //clear the string each time
tnhnrl 62:d502889e74f1 1490 //string_temp = "";
tnhnrl 62:d502889e74f1 1491 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1492 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1493 }
tnhnrl 62:d502889e74f1 1494
tnhnrl 62:d502889e74f1 1495 string_hex_buffer = hex_char_timer;
tnhnrl 62:d502889e74f1 1496
tnhnrl 62:d502889e74f1 1497 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1498 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1499 string_temp = string_hex_buffer.substr(i,2);
tnhnrl 62:d502889e74f1 1500
tnhnrl 62:d502889e74f1 1501 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1502 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1503 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1504 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1505
tnhnrl 62:d502889e74f1 1506 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1507 int decimal_value;
tnhnrl 62:d502889e74f1 1508 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1509
tnhnrl 62:d502889e74f1 1510 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1511 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1512
tnhnrl 62:d502889e74f1 1513 //clear the string each time
tnhnrl 62:d502889e74f1 1514 //string_temp = "";
tnhnrl 62:d502889e74f1 1515 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1516 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1517 }
tnhnrl 62:d502889e74f1 1518 //////////////////////////
tnhnrl 62:d502889e74f1 1519
tnhnrl 62:d502889e74f1 1520 //create new packet based on int array
tnhnrl 62:d502889e74f1 1521 _packet_number = 1; // TEST, FIX THIS
tnhnrl 62:d502889e74f1 1522 _total_number_of_packets = 1;
tnhnrl 62:d502889e74f1 1523 _current_line_length = 16;
tnhnrl 62:d502889e74f1 1524
tnhnrl 62:d502889e74f1 1525 intCreateDataPacket(hex_to_int,16);
tnhnrl 62:d502889e74f1 1526
tnhnrl 62:d502889e74f1 1527
tnhnrl 62:d502889e74f1 1528 transmitDataPacket();
tnhnrl 63:6cb0405fc6e6 1529 }
tnhnrl 63:6cb0405fc6e6 1530
tnhnrl 68:8f549749b8ce 1531 void MbedLogger::setTransmitPacketNumber(int packet_number) {
tnhnrl 68:8f549749b8ce 1532 _transmit_packet_num = packet_number;
tnhnrl 69:919ac8d7e023 1533
tnhnrl 69:919ac8d7e023 1534 //also needed to reset a boolean flag on the transmit
tnhnrl 69:919ac8d7e023 1535 _fsm_transmit_complete = false;
tnhnrl 72:250b2665755c 1536 }
tnhnrl 72:250b2665755c 1537
tnhnrl 72:250b2665755c 1538 int MbedLogger::currentPacketNumber() {
tnhnrl 72:250b2665755c 1539 return _packet_number;
tnhnrl 62:d502889e74f1 1540 }