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@80:4e5d306d695b, 2018-10-24 (annotated)

Committer:
tnhnrl
Date:
Wed Oct 24 16:07:10 2018 +0000
Revision:
80:4e5d306d695b
Parent:
76:c802e1da4179
Child:
82:0981b9ada820
Tilde brings up menu to print log size, and asks whether or not you want to erase the MBED local log.; ; Tested code with SD logger, working on PCB 2.4, commented out.

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