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@68:8f549749b8ce, 2018-06-27 (annotated)

Committer:
tnhnrl
Date:
Wed Jun 27 23:01:53 2018 +0000
Revision:
68:8f549749b8ce
Parent:
67:c86a4b464682
Child:
69:919ac8d7e023
file transmission partially repaired

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 62:d502889e74f1 1 #include "MbedLogger.hpp"
tnhnrl 62:d502889e74f1 2 #include "StaticDefs.hpp"
tnhnrl 62:d502889e74f1 3
tnhnrl 62:d502889e74f1 4 //Timer t; //used to test time to create packet //timing debug
tnhnrl 62:d502889e74f1 5
tnhnrl 62:d502889e74f1 6 MbedLogger::MbedLogger(string file_system_input_string) {
tnhnrl 62:d502889e74f1 7 _file_system_string = file_system_input_string;
tnhnrl 62:d502889e74f1 8 _full_file_path_string = _file_system_string + "LOG000.csv"; //use multiple logs in the future? (after file size is too large)
tnhnrl 62:d502889e74f1 9 _file_number = 0;
tnhnrl 62:d502889e74f1 10 _file_transmission = true;
tnhnrl 62:d502889e74f1 11 _confirmed_packet_number = 0; //must set this to zero
tnhnrl 62:d502889e74f1 12 _transmit_counter = 0;
tnhnrl 62:d502889e74f1 13 _file_transmission_state = -1;
tnhnrl 62:d502889e74f1 14 _total_number_of_packets = 0;
tnhnrl 62:d502889e74f1 15 _mbed_transmit_loop = false;
tnhnrl 62:d502889e74f1 16 _received_filename = "";
tnhnrl 63:6cb0405fc6e6 17
tnhnrl 63:6cb0405fc6e6 18 _log_file_line_counter = 0; //used to set timer in finite state machine based on size of log
tnhnrl 67:c86a4b464682 19
tnhnrl 68:8f549749b8ce 20 _heading_string = "state_string,state_ID,timer,depth_cmd,depth_ft,pitch_cmd,pitch_deg,bce_cmd,bce_mm,batt_cmd,batt_mm,pitchRate_degs,depthRate_fps,sys_amps,sys_volts,int_press_PSI\n";
tnhnrl 68:8f549749b8ce 21
tnhnrl 68:8f549749b8ce 22 _transmit_packet_num = 0;
tnhnrl 62:d502889e74f1 23 }
tnhnrl 62:d502889e74f1 24
tnhnrl 62:d502889e74f1 25 //this function has to be called for the time to function correctly
tnhnrl 62:d502889e74f1 26 void MbedLogger::setLogTime() {
tnhnrl 62:d502889e74f1 27 pc().printf("\n%s log time set.\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 28 set_time(1518467832); // Set RTC time to Mon, 12 FEB 2018 15:37
tnhnrl 62:d502889e74f1 29 }
tnhnrl 62:d502889e74f1 30
tnhnrl 62:d502889e74f1 31 //in the future create the ability to set the start time
tnhnrl 62:d502889e74f1 32 int MbedLogger::getSystemTime() {
tnhnrl 62:d502889e74f1 33 time_t seconds = time(NULL); // Time as seconds since January 1, 1970
tnhnrl 62:d502889e74f1 34
tnhnrl 62:d502889e74f1 35 return seconds;
tnhnrl 62:d502889e74f1 36 }
tnhnrl 62:d502889e74f1 37
tnhnrl 62:d502889e74f1 38 void MbedLogger::recordData(int current_state) {
tnhnrl 62:d502889e74f1 39 int data_log_int = mbedLogger().getSystemTime(); //read the system timer to get unix timestamp
tnhnrl 62:d502889e74f1 40 //_data_log[0] = mbedLogger().getSystemTime(); //read the system timer to get unix timestamp
tnhnrl 62:d502889e74f1 41 _data_log[1] = depthLoop().getCommand(); //depth command
tnhnrl 62:d502889e74f1 42 _data_log[2] = depthLoop().getPosition(); //depth reading
tnhnrl 62:d502889e74f1 43 _data_log[3] = pitchLoop().getCommand(); //pitch command
tnhnrl 62:d502889e74f1 44 _data_log[4] = pitchLoop().getPosition(); //pitch reading
tnhnrl 62:d502889e74f1 45 _data_log[5] = bce().getSetPosition_mm(); //BCE command
tnhnrl 62:d502889e74f1 46 _data_log[6] = bce().getPosition_mm(); //BCE reading
tnhnrl 62:d502889e74f1 47 _data_log[7] = batt().getSetPosition_mm(); //Batt command
tnhnrl 62:d502889e74f1 48 _data_log[8] = batt().getPosition_mm(); //Batt reading
tnhnrl 62:d502889e74f1 49 _data_log[9] = pitchLoop().getVelocity(); // pitchRate_degs (degrees per second)
tnhnrl 62:d502889e74f1 50 _data_log[10] = depthLoop().getVelocity(); // depthRate_fps (feet per second)
tnhnrl 62:d502889e74f1 51
tnhnrl 68:8f549749b8ce 52 // extrapolated from graph if V_s = 5.0
tnhnrl 68:8f549749b8ce 53 // https://www.nxp.com/docs/en/data-sheet/MPXA6115A.pdf
tnhnrl 68:8f549749b8ce 54 float press_xducer_PSI = (22.029*(5.0*adc().readCh5()/4095.0) + 10.884) * 0.145038; // Press_Xducer (on-board)
tnhnrl 68:8f549749b8ce 55 float voltage_input = (adc().readCh6()/4095.0) * 5.0 * 7.8; //Vin_Mon on PCB schematic (system input voltage from power supply)
tnhnrl 68:8f549749b8ce 56 float current_input = adc().readCh7()/4095.0; // I_mon (appears to be one-to-one from the schematic)
tnhnrl 67:c86a4b464682 57 // presssure onboard
tnhnrl 67:c86a4b464682 58
tnhnrl 67:c86a4b464682 59
tnhnrl 68:8f549749b8ce 60 _data_log[11] = current_input; // i_in
tnhnrl 67:c86a4b464682 61 _data_log[12] = voltage_input; // v_in
tnhnrl 68:8f549749b8ce 62 _data_log[13] = press_xducer_PSI; // int_press_PSI
tnhnrl 67:c86a4b464682 63
tnhnrl 62:d502889e74f1 64 //check what the current state is and create that string
tnhnrl 62:d502889e74f1 65 string string_state;
tnhnrl 62:d502889e74f1 66 if (current_state == SIT_IDLE)
tnhnrl 62:d502889e74f1 67 string_state = "SIT_IDLE";
tnhnrl 62:d502889e74f1 68 else if (current_state == FIND_NEUTRAL)
tnhnrl 62:d502889e74f1 69 string_state = "FIND_NEUTRAL";
tnhnrl 62:d502889e74f1 70 else if (current_state == DIVE)
tnhnrl 62:d502889e74f1 71 string_state = "DIVE";
tnhnrl 62:d502889e74f1 72 else if (current_state == RISE)
tnhnrl 62:d502889e74f1 73 string_state = "RISE";
tnhnrl 62:d502889e74f1 74 else if (current_state == FLOAT_LEVEL)
tnhnrl 62:d502889e74f1 75 string_state = "FLOAT_LEVEL";
tnhnrl 62:d502889e74f1 76 else if (current_state == FLOAT_BROADCAST)
tnhnrl 62:d502889e74f1 77 string_state = "FLOAT_BROADCAST";
tnhnrl 62:d502889e74f1 78 else if (current_state == EMERGENCY_CLIMB)
tnhnrl 62:d502889e74f1 79 string_state = "EMERGENCY_CLIMB";
tnhnrl 62:d502889e74f1 80 else if (current_state == MULTI_DIVE)
tnhnrl 62:d502889e74f1 81 string_state = "MULTI_DIVE";
tnhnrl 62:d502889e74f1 82 else if (current_state == MULTI_RISE)
tnhnrl 62:d502889e74f1 83 string_state = "MULTI_RISE";
tnhnrl 62:d502889e74f1 84 else if (current_state == KEYBOARD)
tnhnrl 62:d502889e74f1 85 string_state = "KEYBOARD";
tnhnrl 62:d502889e74f1 86 else if (current_state == CHECK_TUNING)
tnhnrl 63:6cb0405fc6e6 87 string_state = "CHECK_TUNING";
tnhnrl 63:6cb0405fc6e6 88 else if (current_state == POSITION_DIVE)
tnhnrl 63:6cb0405fc6e6 89 string_state = "POSITION_DIVE";
tnhnrl 63:6cb0405fc6e6 90 else if (current_state == POSITION_RISE)
tnhnrl 63:6cb0405fc6e6 91 string_state = "POSITION_RISE";
tnhnrl 67:c86a4b464682 92
tnhnrl 67:c86a4b464682 93 string blank_space = ""; //to get consistent spacing in the file
tnhnrl 62:d502889e74f1 94
tnhnrl 62:d502889e74f1 95 //record the string state, integer state, and then the data
tnhnrl 68:8f549749b8ce 96 //_heading_string is 160 characters long
tnhnrl 68:8f549749b8ce 97
tnhnrl 68:8f549749b8ce 98 //make function that checks length of header versus string below, add padding
tnhnrl 68:8f549749b8ce 99
tnhnrl 67:c86a4b464682 100 fprintf(_fp, "%16s,%.2d,",string_state.c_str(),current_state);
tnhnrl 67:c86a4b464682 101 fprintf(_fp, "%11d,",data_log_int); //length 10
tnhnrl 68:8f549749b8ce 102 fprintf(_fp, "%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.3f,%6.2f,%6.1f%38s\n",_data_log[1],
tnhnrl 67:c86a4b464682 103 _data_log[2],_data_log[3],_data_log[4],_data_log[5],_data_log[6],_data_log[7],_data_log[8],_data_log[9],_data_log[10],_data_log[11],_data_log[12],_data_log[13],blank_space.c_str());
tnhnrl 67:c86a4b464682 104
tnhnrl 67:c86a4b464682 105 //each line in the file is 160 characters long text-wise, check this with a file read
tnhnrl 62:d502889e74f1 106 }
tnhnrl 62:d502889e74f1 107
tnhnrl 62:d502889e74f1 108 void MbedLogger::printMbedDirectory() {
tnhnrl 62:d502889e74f1 109 DIR *dir;
tnhnrl 62:d502889e74f1 110 struct dirent *dp; //dirent.h is the format of directory entries
tnhnrl 62:d502889e74f1 111 int log_found =0,loop=0;
tnhnrl 62:d502889e74f1 112 long int temp=0;
tnhnrl 62:d502889e74f1 113
tnhnrl 62:d502889e74f1 114 //char * char_pointer;
tnhnrl 62:d502889e74f1 115 char * numstart;
tnhnrl 62:d502889e74f1 116 //char *numstop;
tnhnrl 62:d502889e74f1 117
tnhnrl 62:d502889e74f1 118 pc().printf("\n\rPrinting out the directory of device %s\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 119
tnhnrl 62:d502889e74f1 120 if ( NULL == (dir = opendir( _file_system_string.c_str() )) ) {
tnhnrl 62:d502889e74f1 121 pc().printf("MBED directory could not be opened\r\n");
tnhnrl 62:d502889e74f1 122 }
tnhnrl 62:d502889e74f1 123 else
tnhnrl 62:d502889e74f1 124 {
tnhnrl 62:d502889e74f1 125 while ( NULL != (dp = readdir( dir )) )
tnhnrl 62:d502889e74f1 126 {
tnhnrl 62:d502889e74f1 127 if(strncmp(dp->d_name,"LOG",3)==0)
tnhnrl 62:d502889e74f1 128 {
tnhnrl 62:d502889e74f1 129 log_found=1;
tnhnrl 62:d502889e74f1 130 /*numstart = dp->d_name; //Look for third character (do safety)
tnhnrl 62:d502889e74f1 131 numstop = strchr(dp->d_name,'.');
tnhnrl 62:d502889e74f1 132 if(numstart!=NULL&&numstop!=NULL)
tnhnrl 62:d502889e74f1 133 {
tnhnrl 62:d502889e74f1 134 temp=numstop-numstart;
tnhnrl 62:d502889e74f1 135 }
tnhnrl 62:d502889e74f1 136 else
tnhnrl 62:d502889e74f1 137 log_found=0; //Something is not right. Ignore
tnhnrl 62:d502889e74f1 138 */
tnhnrl 62:d502889e74f1 139 numstart=dp->d_name+3;
tnhnrl 62:d502889e74f1 140 temp=strtol(numstart,NULL,10); //add in check to see if this is null (start logs at one)
tnhnrl 62:d502889e74f1 141 }
tnhnrl 62:d502889e74f1 142 else
tnhnrl 62:d502889e74f1 143 log_found=0;
tnhnrl 62:d502889e74f1 144 pc().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
tnhnrl 62:d502889e74f1 145
tnhnrl 62:d502889e74f1 146 loop++;
tnhnrl 62:d502889e74f1 147 }
tnhnrl 62:d502889e74f1 148 }
tnhnrl 62:d502889e74f1 149 }
tnhnrl 62:d502889e74f1 150
tnhnrl 68:8f549749b8ce 151 //prints current log file to the screen (terminal)
tnhnrl 62:d502889e74f1 152 void MbedLogger::printCurrentLogFile() {
tnhnrl 62:d502889e74f1 153 //open the file for reading
tnhnrl 62:d502889e74f1 154 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 155
tnhnrl 63:6cb0405fc6e6 156 _log_file_line_counter = 0;
tnhnrl 62:d502889e74f1 157
tnhnrl 62:d502889e74f1 158 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 159
tnhnrl 62:d502889e74f1 160 char buffer[500];
tnhnrl 62:d502889e74f1 161
tnhnrl 62:d502889e74f1 162 //read the file line-by-line and print that to the screen
tnhnrl 62:d502889e74f1 163 pc().printf("\n\rCURRENT MBED LOG FILE /local/Log%03d.csv:\n\n\r",_file_number);
tnhnrl 62:d502889e74f1 164 while (!feof(_fp)) {
tnhnrl 62:d502889e74f1 165 // read in the line and make sure it was successful
tnhnrl 62:d502889e74f1 166 if (fgets(buffer,500,_fp) != NULL) { //stops at new line
tnhnrl 62:d502889e74f1 167 pc().printf("%s\r",buffer);
tnhnrl 63:6cb0405fc6e6 168 _log_file_line_counter++;
tnhnrl 62:d502889e74f1 169 }
tnhnrl 62:d502889e74f1 170 }
tnhnrl 62:d502889e74f1 171
tnhnrl 62:d502889e74f1 172 //fgets stops when either (n-1) characters are read, the newline character is read,
tnhnrl 62:d502889e74f1 173 // or the end-of-file is reached
tnhnrl 62:d502889e74f1 174
tnhnrl 62:d502889e74f1 175 //close the file
tnhnrl 62:d502889e74f1 176 closeLogFile();
tnhnrl 63:6cb0405fc6e6 177 pc().printf("\n\rLog file closed. Lines in log file: %d.\n\r", _log_file_line_counter);
tnhnrl 62:d502889e74f1 178 }
tnhnrl 62:d502889e74f1 179
tnhnrl 62:d502889e74f1 180 void MbedLogger::openFileForTransmit() {
tnhnrl 62:d502889e74f1 181 pc().printf("\n\ropenFileForTransmit\n\r");
tnhnrl 62:d502889e74f1 182 //open the current file to read the contents
tnhnrl 62:d502889e74f1 183 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 184
tnhnrl 62:d502889e74f1 185 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 186
tnhnrl 62:d502889e74f1 187 _file_transmission = true;
tnhnrl 62:d502889e74f1 188 }
tnhnrl 62:d502889e74f1 189
tnhnrl 62:d502889e74f1 190 void MbedLogger::transmitCurrentLogFileLine(bool next_line) {
tnhnrl 62:d502889e74f1 191 vector <int> current_packet;
tnhnrl 62:d502889e74f1 192
tnhnrl 62:d502889e74f1 193 pc().printf("\n\rtransmitCurrentLogFile\n\r");
tnhnrl 62:d502889e74f1 194
tnhnrl 62:d502889e74f1 195 //while not end of file, read through line by line???
tnhnrl 62:d502889e74f1 196
tnhnrl 62:d502889e74f1 197 //transmit the file line by line (reads one line)
tnhnrl 62:d502889e74f1 198 //if you get the command to send a new line, go to the next line
tnhnrl 62:d502889e74f1 199 if (next_line) {
tnhnrl 62:d502889e74f1 200 if (fgets(_line_buffer,256,_fp) != NULL) {
tnhnrl 62:d502889e74f1 201 pc().printf("%s\r",_line_buffer);
tnhnrl 62:d502889e74f1 202 }
tnhnrl 62:d502889e74f1 203 }
tnhnrl 62:d502889e74f1 204
tnhnrl 62:d502889e74f1 205 // GET BUFFER LENGTH
tnhnrl 62:d502889e74f1 206 _current_line_length = strlen(_line_buffer);
tnhnrl 62:d502889e74f1 207
tnhnrl 62:d502889e74f1 208 //DEBUG PRINT TO SCREEN
tnhnrl 62:d502889e74f1 209 pc().printf("line_buffer size: %d %<%s>\r",_current_line_length,_line_buffer);
tnhnrl 62:d502889e74f1 210 }
tnhnrl 62:d502889e74f1 211
tnhnrl 62:d502889e74f1 212 void MbedLogger::createDataPacket() {
tnhnrl 62:d502889e74f1 213 // packet is 7565 0001 FFFF EEEE CC DATA DATA DATA ... CRC1 CRC2
tnhnrl 62:d502889e74f1 214
tnhnrl 62:d502889e74f1 215 //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
tnhnrl 62:d502889e74f1 216 _data_packet.clear();
tnhnrl 62:d502889e74f1 217
tnhnrl 62:d502889e74f1 218 //DATA PACKET HEADER
tnhnrl 62:d502889e74f1 219 _data_packet.push_back(117); //0x75
tnhnrl 62:d502889e74f1 220 _data_packet.push_back(101); //0x65
tnhnrl 62:d502889e74f1 221
tnhnrl 62:d502889e74f1 222 _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 223 _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 224
tnhnrl 62:d502889e74f1 225 _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 226 _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 227
tnhnrl 62:d502889e74f1 228 _data_packet.push_back(_current_line_length);
tnhnrl 62:d502889e74f1 229
tnhnrl 68:8f549749b8ce 230 //pc().printf("DEBUG: Current line buffer: %s\n\r", _line_buffer); //debug
tnhnrl 62:d502889e74f1 231
tnhnrl 62:d502889e74f1 232 //DATA FROM LINE READ (read string character by chracter)
tnhnrl 62:d502889e74f1 233 for (int i = 0; i < _current_line_length; i++) {
tnhnrl 62:d502889e74f1 234 _data_packet.push_back(_line_buffer[i]);
tnhnrl 62:d502889e74f1 235 }
tnhnrl 62:d502889e74f1 236
tnhnrl 62:d502889e74f1 237 //CRC CALCULATIONS BELOW
tnhnrl 62:d502889e74f1 238 //character version of calculation screws up on null character 0x00, scrapped and using vector of integers
tnhnrl 62:d502889e74f1 239
tnhnrl 62:d502889e74f1 240 int crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 241 int crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 242
tnhnrl 62:d502889e74f1 243 //place the crc bytes into the data packet that is transmitted
tnhnrl 62:d502889e74f1 244 _data_packet.push_back(crc_one);
tnhnrl 62:d502889e74f1 245 _data_packet.push_back(crc_two);
tnhnrl 62:d502889e74f1 246 }
tnhnrl 62:d502889e74f1 247
tnhnrl 62:d502889e74f1 248 //should i save it as a string and transmit the string? next iteration maybe
tnhnrl 62:d502889e74f1 249
tnhnrl 62:d502889e74f1 250 void MbedLogger::transmitDataPacket() {
tnhnrl 62:d502889e74f1 251 //WRITE the data (in bytes) to the serial port
tnhnrl 62:d502889e74f1 252 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++) {
tnhnrl 62:d502889e74f1 253 pc().putc(*_it); //send integers over serial port one byte at a time
tnhnrl 62:d502889e74f1 254 }
tnhnrl 62:d502889e74f1 255 }
tnhnrl 62:d502889e74f1 256
tnhnrl 62:d502889e74f1 257 // test to see if transmitDataPacket is working slower than you think.
tnhnrl 62:d502889e74f1 258
tnhnrl 62:d502889e74f1 259 // REACH ONE CHAR AT A TIME (EACH ITERATION OF STATE MACHINE...)
tnhnrl 62:d502889e74f1 260
tnhnrl 68:8f549749b8ce 261
tnhnrl 68:8f549749b8ce 262 void MbedLogger::continuouslyTransmitDataNoTimer() {
tnhnrl 68:8f549749b8ce 263 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 68:8f549749b8ce 264
tnhnrl 68:8f549749b8ce 265 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 68:8f549749b8ce 266
tnhnrl 68:8f549749b8ce 267 static int packet_num = 0;
tnhnrl 68:8f549749b8ce 268
tnhnrl 68:8f549749b8ce 269 while(!feof(_fp)) {
tnhnrl 68:8f549749b8ce 270
tnhnrl 68:8f549749b8ce 271 _packet_number = packet_num;
tnhnrl 68:8f549749b8ce 272
tnhnrl 68:8f549749b8ce 273 //fseek
tnhnrl 68:8f549749b8ce 274
tnhnrl 68:8f549749b8ce 275 readPacketInSeries(); //not using this but for testing purposes...
tnhnrl 68:8f549749b8ce 276
tnhnrl 68:8f549749b8ce 277 // // createDataPacket requires _packet_number, _total_number_of_packets, _current_line_length (data packet size)
tnhnrl 68:8f549749b8ce 278 // // uses char _line_buffer[256] variable to hold characters read from the file
tnhnrl 68:8f549749b8ce 279 // // packs this into a vector for transmission
tnhnrl 68:8f549749b8ce 280 createDataPacket();
tnhnrl 68:8f549749b8ce 281
tnhnrl 68:8f549749b8ce 282 transmitDataPacket();
tnhnrl 68:8f549749b8ce 283
tnhnrl 68:8f549749b8ce 284 packet_num++;
tnhnrl 68:8f549749b8ce 285
tnhnrl 68:8f549749b8ce 286 led3() = !led3();
tnhnrl 68:8f549749b8ce 287
tnhnrl 68:8f549749b8ce 288 //check for incoming request
tnhnrl 68:8f549749b8ce 289 }
tnhnrl 68:8f549749b8ce 290
tnhnrl 68:8f549749b8ce 291 closeLogFile(); //close log file if open
tnhnrl 68:8f549749b8ce 292 led4() = !led4();
tnhnrl 68:8f549749b8ce 293 }
tnhnrl 68:8f549749b8ce 294
tnhnrl 68:8f549749b8ce 295 bool MbedLogger::fsmTransmitData() { //using the finite state machine
tnhnrl 68:8f549749b8ce 296 pc().printf("debug fsmTransmitData (%d) (tpn: %d)\n\r",_fp,_transmit_packet_num);
tnhnrl 68:8f549749b8ce 297
tnhnrl 68:8f549749b8ce 298 if (!feof(_fp)) { //check for end of file
tnhnrl 68:8f549749b8ce 299 wait(0.1);
tnhnrl 68:8f549749b8ce 300
tnhnrl 68:8f549749b8ce 301 //based on the internal packet number of the class
tnhnrl 68:8f549749b8ce 302 transmitPacketNumber(_transmit_packet_num);
tnhnrl 68:8f549749b8ce 303
tnhnrl 68:8f549749b8ce 304 //check for incoming transmission
tnhnrl 68:8f549749b8ce 305 pythonTransmitRequest();
tnhnrl 68:8f549749b8ce 306
tnhnrl 68:8f549749b8ce 307 _transmit_packet_num++;
tnhnrl 68:8f549749b8ce 308
tnhnrl 68:8f549749b8ce 309 led3() = !led3();
tnhnrl 68:8f549749b8ce 310
tnhnrl 68:8f549749b8ce 311 return true;
tnhnrl 68:8f549749b8ce 312 }
tnhnrl 68:8f549749b8ce 313
tnhnrl 68:8f549749b8ce 314 else
tnhnrl 68:8f549749b8ce 315 return false;
tnhnrl 68:8f549749b8ce 316 }
tnhnrl 68:8f549749b8ce 317
tnhnrl 68:8f549749b8ce 318 void MbedLogger::continuouslyTransmitData() {
tnhnrl 68:8f549749b8ce 319 static int packet_num = 0;
tnhnrl 68:8f549749b8ce 320
tnhnrl 68:8f549749b8ce 321 while(!feof(_fp)) {
tnhnrl 68:8f549749b8ce 322 wait(0.1);
tnhnrl 68:8f549749b8ce 323
tnhnrl 68:8f549749b8ce 324 _packet_number = packet_num;
tnhnrl 68:8f549749b8ce 325
tnhnrl 68:8f549749b8ce 326 transmitPacketNumber(packet_num);
tnhnrl 68:8f549749b8ce 327
tnhnrl 68:8f549749b8ce 328 //check for incoming transmission
tnhnrl 68:8f549749b8ce 329 pythonTransmitRequest();
tnhnrl 68:8f549749b8ce 330
tnhnrl 68:8f549749b8ce 331 packet_num++;
tnhnrl 68:8f549749b8ce 332
tnhnrl 68:8f549749b8ce 333 led3() = !led3();
tnhnrl 68:8f549749b8ce 334 }
tnhnrl 68:8f549749b8ce 335 }
tnhnrl 68:8f549749b8ce 336
tnhnrl 68:8f549749b8ce 337 void MbedLogger::transmitPacketNumber(int line_number) {
tnhnrl 68:8f549749b8ce 338 int line_size = 160; //length of lines in the log file, EVERY LINE MUST BE THE SAME LENGTH
tnhnrl 68:8f549749b8ce 339 char line_buffer[500] = {};
tnhnrl 68:8f549749b8ce 340
tnhnrl 68:8f549749b8ce 341 fseek(_fp,(line_size+1)*line_number,SEEK_SET); //fseek must use the +1 to get the newline character
tnhnrl 68:8f549749b8ce 342 //start from the beginning and go to this position
tnhnrl 68:8f549749b8ce 343 fread(line_buffer, 1, line_size, _fp); //read the line that is exactly 160 characters long
tnhnrl 68:8f549749b8ce 344
tnhnrl 68:8f549749b8ce 345 pc().printf("Debug (transmitPacketNumber): line_buffer <<%s>> (line size: %d)\n\r", line_buffer,line_size);
tnhnrl 68:8f549749b8ce 346
tnhnrl 68:8f549749b8ce 347 // createDataPacket requires _packet_number, _total_number_of_packets, _current_line_length (data packet size)
tnhnrl 68:8f549749b8ce 348 // uses char _line_buffer[256] variable to hold characters read from the file
tnhnrl 68:8f549749b8ce 349 // packs this into a vector for transmission
tnhnrl 68:8f549749b8ce 350
tnhnrl 68:8f549749b8ce 351 createDataPacket(); //create the data packet from the _line_buffer (char array)
tnhnrl 68:8f549749b8ce 352 transmitDataPacket(); //transmit the assembled packet
tnhnrl 68:8f549749b8ce 353 }
tnhnrl 68:8f549749b8ce 354
tnhnrl 68:8f549749b8ce 355 void MbedLogger::pythonTransmitRequest() {
tnhnrl 68:8f549749b8ce 356 static int transmit_state = HEADER_117; //state in switch statement
tnhnrl 68:8f549749b8ce 357 int incoming_byte = -1; //reset each time a character is read
tnhnrl 68:8f549749b8ce 358 int requested_packet_number = -1; //reset each time a character is read
tnhnrl 68:8f549749b8ce 359 static int input_packet[4]; //changed from char in previous iteration 03/28/2018
tnhnrl 68:8f549749b8ce 360 static int transmit_crc_one = 0; //hold crc values until they're reset with calculations
tnhnrl 68:8f549749b8ce 361 static int transmit_crc_two = 0;
tnhnrl 68:8f549749b8ce 362
tnhnrl 68:8f549749b8ce 363
tnhnrl 68:8f549749b8ce 364 while (pc().readable()) {
tnhnrl 68:8f549749b8ce 365 incoming_byte = pc().getc();
tnhnrl 68:8f549749b8ce 366
tnhnrl 68:8f549749b8ce 367 led3() = !led3();
tnhnrl 68:8f549749b8ce 368
tnhnrl 68:8f549749b8ce 369 switch(transmit_state) {
tnhnrl 68:8f549749b8ce 370 case HEADER_117:
tnhnrl 68:8f549749b8ce 371 //continue processing
tnhnrl 68:8f549749b8ce 372 if (incoming_byte == 30){ //1E
tnhnrl 68:8f549749b8ce 373 transmit_state = HEADER_101;
tnhnrl 68:8f549749b8ce 374 }
tnhnrl 68:8f549749b8ce 375 //did not receive byte 1
tnhnrl 68:8f549749b8ce 376 else {
tnhnrl 68:8f549749b8ce 377 transmit_state = HEADER_117; //go back to checking the first packet
tnhnrl 68:8f549749b8ce 378 }
tnhnrl 68:8f549749b8ce 379 break;
tnhnrl 68:8f549749b8ce 380
tnhnrl 68:8f549749b8ce 381 case HEADER_101:
tnhnrl 68:8f549749b8ce 382 if(incoming_byte == 31) { //1F
tnhnrl 68:8f549749b8ce 383 transmit_state = TRANSMIT_PACKET_1;
tnhnrl 68:8f549749b8ce 384 }
tnhnrl 68:8f549749b8ce 385 break;
tnhnrl 68:8f549749b8ce 386
tnhnrl 68:8f549749b8ce 387 case TRANSMIT_PACKET_1:
tnhnrl 68:8f549749b8ce 388 if (incoming_byte >= 0) {
tnhnrl 68:8f549749b8ce 389 input_packet[0] = 30;
tnhnrl 68:8f549749b8ce 390 input_packet[1] = 31;
tnhnrl 68:8f549749b8ce 391 input_packet[2] = incoming_byte;
tnhnrl 68:8f549749b8ce 392
tnhnrl 68:8f549749b8ce 393 transmit_state = TRANSMIT_PACKET_2;
tnhnrl 68:8f549749b8ce 394 //_reply_byte3 = incoming_byte;
tnhnrl 68:8f549749b8ce 395 }
tnhnrl 68:8f549749b8ce 396 break;
tnhnrl 68:8f549749b8ce 397
tnhnrl 68:8f549749b8ce 398 case TRANSMIT_PACKET_2:
tnhnrl 68:8f549749b8ce 399
tnhnrl 68:8f549749b8ce 400 if (incoming_byte >= 0) {
tnhnrl 68:8f549749b8ce 401 input_packet[3] = incoming_byte;
tnhnrl 68:8f549749b8ce 402 //_reply_byte4 = incoming_byte;
tnhnrl 68:8f549749b8ce 403 }
tnhnrl 68:8f549749b8ce 404 transmit_state = PACKET_CRC_ONE;
tnhnrl 68:8f549749b8ce 405
tnhnrl 68:8f549749b8ce 406 break;
tnhnrl 68:8f549749b8ce 407
tnhnrl 68:8f549749b8ce 408 case (PACKET_CRC_ONE):
tnhnrl 68:8f549749b8ce 409 transmit_crc_one = calcCrcOneArray(input_packet, 4); //calc CRC 1 from the input packet (size 4)
tnhnrl 68:8f549749b8ce 410
tnhnrl 68:8f549749b8ce 411 if (incoming_byte == transmit_crc_one) {
tnhnrl 68:8f549749b8ce 412 transmit_state = PACKET_CRC_TWO;
tnhnrl 68:8f549749b8ce 413 }
tnhnrl 68:8f549749b8ce 414
tnhnrl 68:8f549749b8ce 415 else
tnhnrl 68:8f549749b8ce 416 transmit_state = HEADER_117;
tnhnrl 68:8f549749b8ce 417 //or state remains the same?
tnhnrl 68:8f549749b8ce 418
tnhnrl 68:8f549749b8ce 419 break;
tnhnrl 68:8f549749b8ce 420
tnhnrl 68:8f549749b8ce 421 case (PACKET_CRC_TWO):
tnhnrl 68:8f549749b8ce 422 transmit_state = HEADER_117;
tnhnrl 68:8f549749b8ce 423 transmit_crc_two = calcCrcTwoArray(input_packet, 4); //calc CRC 2 from the input packet (size 4)
tnhnrl 68:8f549749b8ce 424
tnhnrl 68:8f549749b8ce 425 //check if CRC TWO is correct (then send full packet)
tnhnrl 68:8f549749b8ce 426 if (incoming_byte == transmit_crc_two) {
tnhnrl 68:8f549749b8ce 427 requested_packet_number = input_packet[2] * 256 + input_packet[3]; //compute the numbers 0 through 65535 with the two bytes
tnhnrl 68:8f549749b8ce 428
tnhnrl 68:8f549749b8ce 429 if (requested_packet_number != _previous_reply_byte) { //CHANGE THE NAME TO SOMETHING NOT BYTE!
tnhnrl 68:8f549749b8ce 430 //MUST SET THE PACKET NUMBER
tnhnrl 68:8f549749b8ce 431 _packet_number = requested_packet_number;
tnhnrl 68:8f549749b8ce 432
tnhnrl 68:8f549749b8ce 433 // DO NOT READ IF THE CURRENT REQUEST IS PAST THE TOTAL # OF PACKETS (lines of the file)
tnhnrl 68:8f549749b8ce 434 if (_packet_number <= _total_number_of_packets) {
tnhnrl 68:8f549749b8ce 435 readPacketInSeries();
tnhnrl 68:8f549749b8ce 436 createDataPacket();
tnhnrl 68:8f549749b8ce 437 }
tnhnrl 68:8f549749b8ce 438
tnhnrl 68:8f549749b8ce 439 _previous_reply_byte = requested_packet_number; //RECORD THIS BYTE to prevent new packets being created
tnhnrl 68:8f549749b8ce 440
tnhnrl 68:8f549749b8ce 441 transmitDataPacket(); //continuously transmit current packet until it tells you to do the next packet (response from Python program)
tnhnrl 68:8f549749b8ce 442 }
tnhnrl 68:8f549749b8ce 443
tnhnrl 68:8f549749b8ce 444 else
tnhnrl 68:8f549749b8ce 445 transmitDataPacket(); //if you get the same packet request, send the same packet
tnhnrl 68:8f549749b8ce 446
tnhnrl 68:8f549749b8ce 447 } //end of checksum (incoming_byte) if statement
tnhnrl 68:8f549749b8ce 448
tnhnrl 68:8f549749b8ce 449 break;
tnhnrl 68:8f549749b8ce 450 } //switch statement complete
tnhnrl 68:8f549749b8ce 451 } //while statement complete
tnhnrl 68:8f549749b8ce 452 }
tnhnrl 68:8f549749b8ce 453
tnhnrl 63:6cb0405fc6e6 454 void MbedLogger::readTransmitPacketOneChar() {
tnhnrl 62:d502889e74f1 455 static int transmit_state = HEADER_117; //state in switch statement
tnhnrl 62:d502889e74f1 456 int incoming_byte = -1; //reset each time a character is read
tnhnrl 62:d502889e74f1 457 int requested_packet_number = -1; //reset each time a character is read
tnhnrl 62:d502889e74f1 458 static int input_packet[4]; //changed from char in previous iteration 03/28/2018
tnhnrl 62:d502889e74f1 459 static int transmit_crc_one = 0; //hold crc values until they're reset with calculations
tnhnrl 62:d502889e74f1 460 static int transmit_crc_two = 0;
tnhnrl 62:d502889e74f1 461
tnhnrl 62:d502889e74f1 462
tnhnrl 63:6cb0405fc6e6 463 while (pc().readable()) {
tnhnrl 63:6cb0405fc6e6 464 incoming_byte = pc().getc();
tnhnrl 63:6cb0405fc6e6 465
tnhnrl 63:6cb0405fc6e6 466 led3() = !led3();
tnhnrl 62:d502889e74f1 467
tnhnrl 63:6cb0405fc6e6 468 switch(transmit_state) {
tnhnrl 63:6cb0405fc6e6 469 case HEADER_117:
tnhnrl 63:6cb0405fc6e6 470 //continue processing
tnhnrl 63:6cb0405fc6e6 471 if (incoming_byte == 30){ //1E
tnhnrl 63:6cb0405fc6e6 472 transmit_state = HEADER_101;
tnhnrl 63:6cb0405fc6e6 473 }
tnhnrl 63:6cb0405fc6e6 474 //did not receive byte 1
tnhnrl 63:6cb0405fc6e6 475 else {
tnhnrl 63:6cb0405fc6e6 476 transmit_state = HEADER_117; //go back to checking the first packet
tnhnrl 63:6cb0405fc6e6 477 }
tnhnrl 63:6cb0405fc6e6 478 break;
tnhnrl 63:6cb0405fc6e6 479
tnhnrl 63:6cb0405fc6e6 480 case HEADER_101:
tnhnrl 63:6cb0405fc6e6 481 if(incoming_byte == 31) { //1F
tnhnrl 63:6cb0405fc6e6 482 transmit_state = TRANSMIT_PACKET_1;
tnhnrl 63:6cb0405fc6e6 483 }
tnhnrl 63:6cb0405fc6e6 484 break;
tnhnrl 62:d502889e74f1 485
tnhnrl 63:6cb0405fc6e6 486 case TRANSMIT_PACKET_1:
tnhnrl 63:6cb0405fc6e6 487 if (incoming_byte >= 0) {
tnhnrl 63:6cb0405fc6e6 488 input_packet[0] = 30;
tnhnrl 63:6cb0405fc6e6 489 input_packet[1] = 31;
tnhnrl 63:6cb0405fc6e6 490 input_packet[2] = incoming_byte;
tnhnrl 63:6cb0405fc6e6 491
tnhnrl 63:6cb0405fc6e6 492 transmit_state = TRANSMIT_PACKET_2;
tnhnrl 63:6cb0405fc6e6 493 //_reply_byte3 = incoming_byte;
tnhnrl 63:6cb0405fc6e6 494 }
tnhnrl 63:6cb0405fc6e6 495 break;
tnhnrl 63:6cb0405fc6e6 496
tnhnrl 63:6cb0405fc6e6 497 case TRANSMIT_PACKET_2:
tnhnrl 62:d502889e74f1 498
tnhnrl 63:6cb0405fc6e6 499 if (incoming_byte >= 0) {
tnhnrl 63:6cb0405fc6e6 500 input_packet[3] = incoming_byte;
tnhnrl 63:6cb0405fc6e6 501 //_reply_byte4 = incoming_byte;
tnhnrl 63:6cb0405fc6e6 502 }
tnhnrl 63:6cb0405fc6e6 503 transmit_state = PACKET_CRC_ONE;
tnhnrl 62:d502889e74f1 504
tnhnrl 63:6cb0405fc6e6 505 break;
tnhnrl 62:d502889e74f1 506
tnhnrl 63:6cb0405fc6e6 507 case (PACKET_CRC_ONE):
tnhnrl 63:6cb0405fc6e6 508 transmit_crc_one = calcCrcOneArray(input_packet, 4); //calc CRC 1 from the input packet (size 4)
tnhnrl 63:6cb0405fc6e6 509
tnhnrl 63:6cb0405fc6e6 510 if (incoming_byte == transmit_crc_one) {
tnhnrl 63:6cb0405fc6e6 511 transmit_state = PACKET_CRC_TWO;
tnhnrl 62:d502889e74f1 512 }
tnhnrl 62:d502889e74f1 513
tnhnrl 62:d502889e74f1 514 else
tnhnrl 63:6cb0405fc6e6 515 transmit_state = HEADER_117;
tnhnrl 63:6cb0405fc6e6 516 //or state remains the same?
tnhnrl 62:d502889e74f1 517
tnhnrl 63:6cb0405fc6e6 518 break;
tnhnrl 62:d502889e74f1 519
tnhnrl 63:6cb0405fc6e6 520 case (PACKET_CRC_TWO):
tnhnrl 63:6cb0405fc6e6 521 transmit_state = HEADER_117;
tnhnrl 63:6cb0405fc6e6 522 transmit_crc_two = calcCrcTwoArray(input_packet, 4); //calc CRC 2 from the input packet (size 4)
tnhnrl 63:6cb0405fc6e6 523
tnhnrl 63:6cb0405fc6e6 524 //check if CRC TWO is correct (then send full packet)
tnhnrl 63:6cb0405fc6e6 525 if (incoming_byte == transmit_crc_two) {
tnhnrl 63:6cb0405fc6e6 526 requested_packet_number = input_packet[2] * 256 + input_packet[3]; //compute the numbers 0 through 65535 with the two bytes
tnhnrl 63:6cb0405fc6e6 527
tnhnrl 63:6cb0405fc6e6 528 if (requested_packet_number != _previous_reply_byte) { //CHANGE THE NAME TO SOMETHING NOT BYTE!
tnhnrl 63:6cb0405fc6e6 529 //MUST SET THE PACKET NUMBER
tnhnrl 63:6cb0405fc6e6 530 _packet_number = requested_packet_number;
tnhnrl 63:6cb0405fc6e6 531
tnhnrl 63:6cb0405fc6e6 532 // DO NOT READ IF THE CURRENT REQUEST IS PAST THE TOTAL # OF PACKETS (lines of the file)
tnhnrl 63:6cb0405fc6e6 533 if (_packet_number <= _total_number_of_packets) {
tnhnrl 63:6cb0405fc6e6 534 readPacketInSeries();
tnhnrl 63:6cb0405fc6e6 535 createDataPacket();
tnhnrl 63:6cb0405fc6e6 536 }
tnhnrl 63:6cb0405fc6e6 537
tnhnrl 63:6cb0405fc6e6 538 _previous_reply_byte = requested_packet_number; //RECORD THIS BYTE to prevent new packets being created
tnhnrl 63:6cb0405fc6e6 539
tnhnrl 63:6cb0405fc6e6 540 transmitDataPacket(); //continuously transmit current packet until it tells you to do the next packet (response from Python program)
tnhnrl 63:6cb0405fc6e6 541 }
tnhnrl 63:6cb0405fc6e6 542
tnhnrl 63:6cb0405fc6e6 543 else
tnhnrl 63:6cb0405fc6e6 544 transmitDataPacket(); //if you get the same packet request, send the same packet
tnhnrl 63:6cb0405fc6e6 545
tnhnrl 63:6cb0405fc6e6 546 } //end of checksum (incoming_byte) if statement
tnhnrl 63:6cb0405fc6e6 547
tnhnrl 63:6cb0405fc6e6 548 break;
tnhnrl 63:6cb0405fc6e6 549 } //switch statement complete
tnhnrl 63:6cb0405fc6e6 550 } //while statement complete
tnhnrl 62:d502889e74f1 551 }
tnhnrl 62:d502889e74f1 552
tnhnrl 62:d502889e74f1 553 int MbedLogger::readTransmitPacket() {
tnhnrl 62:d502889e74f1 554 _file_transmission = true;
tnhnrl 62:d502889e74f1 555 _file_transmission_state = 0;
tnhnrl 62:d502889e74f1 556
tnhnrl 62:d502889e74f1 557 //first check if you're receiving data, then read four bytes
tnhnrl 62:d502889e74f1 558
tnhnrl 62:d502889e74f1 559 int transmit_state = 0; //for state machine
tnhnrl 62:d502889e74f1 560
tnhnrl 62:d502889e74f1 561 int incoming_byte = -1;
tnhnrl 62:d502889e74f1 562
tnhnrl 62:d502889e74f1 563 int requested_packet_number = -1;
tnhnrl 62:d502889e74f1 564
tnhnrl 62:d502889e74f1 565 static int inside_while_loop = 1;
tnhnrl 62:d502889e74f1 566
tnhnrl 62:d502889e74f1 567 while (inside_while_loop) {
tnhnrl 62:d502889e74f1 568 if (pc().readable()) { //don't rely on pc readable being open all the time
tnhnrl 62:d502889e74f1 569
tnhnrl 62:d502889e74f1 570 incoming_byte = pc().getc();
tnhnrl 62:d502889e74f1 571
tnhnrl 62:d502889e74f1 572 switch(transmit_state) {
tnhnrl 62:d502889e74f1 573
tnhnrl 62:d502889e74f1 574 case (HEADER_117):
tnhnrl 62:d502889e74f1 575 //continue processing
tnhnrl 62:d502889e74f1 576 if (incoming_byte == 117){
tnhnrl 62:d502889e74f1 577 transmit_state = HEADER_101;
tnhnrl 62:d502889e74f1 578 }
tnhnrl 62:d502889e74f1 579 //end transmission
tnhnrl 62:d502889e74f1 580 else if (incoming_byte == 16) {
tnhnrl 62:d502889e74f1 581 transmit_state = END_TRANSMISSION;
tnhnrl 62:d502889e74f1 582 }
tnhnrl 62:d502889e74f1 583 else {
tnhnrl 62:d502889e74f1 584 transmit_state = HEADER_117;
tnhnrl 62:d502889e74f1 585 }
tnhnrl 62:d502889e74f1 586 break;
tnhnrl 62:d502889e74f1 587
tnhnrl 62:d502889e74f1 588 case (HEADER_101):
tnhnrl 62:d502889e74f1 589 if(incoming_byte == 101) {
tnhnrl 62:d502889e74f1 590 transmit_state = TRANSMIT_PACKET_1;
tnhnrl 62:d502889e74f1 591 }
tnhnrl 62:d502889e74f1 592 break;
tnhnrl 62:d502889e74f1 593
tnhnrl 62:d502889e74f1 594 case (TRANSMIT_PACKET_1):
tnhnrl 62:d502889e74f1 595 if (incoming_byte >= 0) {
tnhnrl 62:d502889e74f1 596 transmit_state = TRANSMIT_PACKET_2;
tnhnrl 62:d502889e74f1 597 _reply_byte3 = incoming_byte;
tnhnrl 62:d502889e74f1 598 }
tnhnrl 62:d502889e74f1 599 break;
tnhnrl 62:d502889e74f1 600
tnhnrl 62:d502889e74f1 601 case (TRANSMIT_PACKET_2):
tnhnrl 62:d502889e74f1 602 if (incoming_byte >= 0) {
tnhnrl 62:d502889e74f1 603 _reply_byte4 = incoming_byte;
tnhnrl 62:d502889e74f1 604 }
tnhnrl 62:d502889e74f1 605
tnhnrl 62:d502889e74f1 606 requested_packet_number = _reply_byte3 * 256 + _reply_byte4; //compute the numbers 0 through 65535 with the two bytes
tnhnrl 62:d502889e74f1 607
tnhnrl 62:d502889e74f1 608 if (requested_packet_number != _previous_reply_byte) { //CHANGE THE NAME TO SOMETHING NOT BYTE!
tnhnrl 62:d502889e74f1 609 //MUST SET THE PACKET NUMBER
tnhnrl 62:d502889e74f1 610 _packet_number = requested_packet_number;
tnhnrl 62:d502889e74f1 611
tnhnrl 62:d502889e74f1 612 readPacketInSeries();
tnhnrl 62:d502889e74f1 613 createDataPacket();
tnhnrl 62:d502889e74f1 614 _previous_reply_byte = requested_packet_number; //RECORD THIS BYTE to prevent new packets being created
tnhnrl 62:d502889e74f1 615 }
tnhnrl 62:d502889e74f1 616
tnhnrl 62:d502889e74f1 617 //continuously transmit current packet until it tells you to do the next packet (response from Python program)
tnhnrl 62:d502889e74f1 618 transmitDataPacket();
tnhnrl 62:d502889e74f1 619
tnhnrl 62:d502889e74f1 620 //TRANSMIT_PACKET_2
tnhnrl 62:d502889e74f1 621 inside_while_loop = 0; //exit the while loop with this
tnhnrl 62:d502889e74f1 622 pc().printf("(TRANSMIT_PACKET_2)reached inside_while_loop = 0\n\r"); //DEBUG
tnhnrl 62:d502889e74f1 623 break;
tnhnrl 62:d502889e74f1 624 } //end of switch statement
tnhnrl 62:d502889e74f1 625 } //end of while loop
tnhnrl 62:d502889e74f1 626
tnhnrl 62:d502889e74f1 627 // else {
tnhnrl 62:d502889e74f1 628 // //pc().printf("pc not readable \n\r");
tnhnrl 62:d502889e74f1 629 // }
tnhnrl 62:d502889e74f1 630 //
tnhnrl 62:d502889e74f1 631 }
tnhnrl 62:d502889e74f1 632
tnhnrl 62:d502889e74f1 633 //once you're outside of the while loop
tnhnrl 62:d502889e74f1 634 inside_while_loop = true; //for next iteration
tnhnrl 62:d502889e74f1 635
tnhnrl 62:d502889e74f1 636 pc().printf("DEBUG: (readTransmitPacket) Outside of while loop\n\r");
tnhnrl 62:d502889e74f1 637 return false;
tnhnrl 62:d502889e74f1 638 }
tnhnrl 62:d502889e74f1 639
tnhnrl 62:d502889e74f1 640 void MbedLogger::reOpenLineReader() {
tnhnrl 62:d502889e74f1 641 //open a new one
tnhnrl 62:d502889e74f1 642 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 643
tnhnrl 62:d502889e74f1 644 _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
tnhnrl 62:d502889e74f1 645
tnhnrl 62:d502889e74f1 646 //check if this actually worked...
tnhnrl 62:d502889e74f1 647 if (!_fp) {
tnhnrl 62:d502889e74f1 648 pc().printf("ERROR: Log file could not be opened\n\r");
tnhnrl 62:d502889e74f1 649 }
tnhnrl 62:d502889e74f1 650 else {
tnhnrl 62:d502889e74f1 651 pc().printf("Current Log file (LOG000.csv) was opened.\n\r");
tnhnrl 62:d502889e74f1 652 }
tnhnrl 62:d502889e74f1 653 }
tnhnrl 62:d502889e74f1 654
tnhnrl 62:d502889e74f1 655 bool MbedLogger::openLineReader() {
tnhnrl 62:d502889e74f1 656 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 657
tnhnrl 62:d502889e74f1 658 _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
tnhnrl 62:d502889e74f1 659
tnhnrl 62:d502889e74f1 660 //check if this actually worked...
tnhnrl 62:d502889e74f1 661 if (!_fp) {
tnhnrl 62:d502889e74f1 662 //pc().printf("ERROR: Log file could not be opened\n\r");
tnhnrl 62:d502889e74f1 663 return false;
tnhnrl 62:d502889e74f1 664 }
tnhnrl 62:d502889e74f1 665 else {
tnhnrl 62:d502889e74f1 666 //pc().printf("Current Log file (LOG000.csv) was opened.\n\r");
tnhnrl 62:d502889e74f1 667 return true;
tnhnrl 62:d502889e74f1 668 }
tnhnrl 62:d502889e74f1 669 }
tnhnrl 62:d502889e74f1 670
tnhnrl 62:d502889e74f1 671 //VERIFIED THIS IS WORKING
tnhnrl 62:d502889e74f1 672 void MbedLogger::readPacketInSeries(){
tnhnrl 62:d502889e74f1 673 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 674
tnhnrl 62:d502889e74f1 675 //read the current line in the file
tnhnrl 62:d502889e74f1 676 fgets(_line_buffer, 256, _fp); //reads the line of characters until you reach a newline character
tnhnrl 62:d502889e74f1 677
tnhnrl 62:d502889e74f1 678 //RECORD THE STRING LENGTH
tnhnrl 62:d502889e74f1 679 _current_line_length = strlen(_line_buffer);
tnhnrl 62:d502889e74f1 680 }
tnhnrl 62:d502889e74f1 681
tnhnrl 62:d502889e74f1 682 void MbedLogger::getNumberOfPacketsInCurrentLog() {
tnhnrl 62:d502889e74f1 683 _packet_number = 0;
tnhnrl 62:d502889e74f1 684
tnhnrl 62:d502889e74f1 685 int ch;
tnhnrl 62:d502889e74f1 686
tnhnrl 62:d502889e74f1 687 _total_number_of_packets = 0; //clear this each time you read the file
tnhnrl 62:d502889e74f1 688
tnhnrl 62:d502889e74f1 689 //if this is null, use the default, else use the new file
tnhnrl 62:d502889e74f1 690
tnhnrl 62:d502889e74f1 691 if (_fp == NULL) {
tnhnrl 62:d502889e74f1 692 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 693
tnhnrl 62:d502889e74f1 694 _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
tnhnrl 62:d502889e74f1 695 }
tnhnrl 62:d502889e74f1 696 else { //else, use the file that is already open...
tnhnrl 62:d502889e74f1 697 fseek(_fp, 0, SEEK_SET); // SEEK_SET is the beginning of file
tnhnrl 62:d502889e74f1 698 }
tnhnrl 62:d502889e74f1 699
tnhnrl 67:c86a4b464682 700 //counts the number of newline characters to generate the packet size
tnhnrl 62:d502889e74f1 701 while (EOF != (ch=getc(_fp))) {
tnhnrl 62:d502889e74f1 702 if ('\n' == ch)
tnhnrl 62:d502889e74f1 703 _total_number_of_packets++; // records the number of new lines to determine how many packets to send
tnhnrl 62:d502889e74f1 704 }
tnhnrl 62:d502889e74f1 705
tnhnrl 62:d502889e74f1 706 //move the FILE pointer back to the start
tnhnrl 62:d502889e74f1 707 fseek(_fp, 0, SEEK_SET); // SEEK_SET is the beginning of file
tnhnrl 62:d502889e74f1 708
tnhnrl 62:d502889e74f1 709 _file_transmission = true; //preparing to transmit files from MBED to Python
tnhnrl 68:8f549749b8ce 710
tnhnrl 68:8f549749b8ce 711 pc().printf("debug: _total_number_of_packets: %d\n\r",_total_number_of_packets);
tnhnrl 62:d502889e74f1 712 }
tnhnrl 62:d502889e74f1 713
tnhnrl 62:d502889e74f1 714 void MbedLogger::endTransmissionCloseFile() {
tnhnrl 62:d502889e74f1 715 // if the file pointer is null, the file was not opened in the first place
tnhnrl 62:d502889e74f1 716 if (!_fp) {
tnhnrl 62:d502889e74f1 717 pc().printf("\n endTransmissionCloseFile: FILE WAS NOT OPENED!\n\r");
tnhnrl 62:d502889e74f1 718 }
tnhnrl 62:d502889e74f1 719 else {
tnhnrl 62:d502889e74f1 720 pc().printf("\n endTransmissionCloseFile: FILE FOUND AND CLOSED!\n\r");
tnhnrl 62:d502889e74f1 721 closeLogFile();
tnhnrl 62:d502889e74f1 722 }
tnhnrl 62:d502889e74f1 723
tnhnrl 62:d502889e74f1 724 _file_transmission = false;
tnhnrl 62:d502889e74f1 725 }
tnhnrl 62:d502889e74f1 726
tnhnrl 62:d502889e74f1 727 void MbedLogger::openWriteFile() {
tnhnrl 62:d502889e74f1 728 pc().printf("Opening file for reception.\n\r");
tnhnrl 62:d502889e74f1 729
tnhnrl 62:d502889e74f1 730 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 731
tnhnrl 62:d502889e74f1 732 _fp = fopen(file_name_string.c_str(), "w");
tnhnrl 62:d502889e74f1 733 }
tnhnrl 62:d502889e74f1 734
tnhnrl 62:d502889e74f1 735
tnhnrl 62:d502889e74f1 736 //weird bug noticed on 5/25/2018 where if you're not sending data the function is not completing
tnhnrl 62:d502889e74f1 737
tnhnrl 62:d502889e74f1 738
tnhnrl 62:d502889e74f1 739
tnhnrl 62:d502889e74f1 740
tnhnrl 62:d502889e74f1 741 // function checks for incoming data (receiver function) from a Python program that transmits a file
tnhnrl 62:d502889e74f1 742 // current limit is a file that has 255 lines of data
tnhnrl 68:8f549749b8ce 743 bool MbedLogger::checkForIncomingData() {
tnhnrl 62:d502889e74f1 744 int receive_packet_number;
tnhnrl 62:d502889e74f1 745 int receive_total_number_packets;
tnhnrl 62:d502889e74f1 746 int receive_packet_size;
tnhnrl 62:d502889e74f1 747
tnhnrl 62:d502889e74f1 748 bool data_transmission_complete = false;
tnhnrl 62:d502889e74f1 749
tnhnrl 62:d502889e74f1 750 int incoming_byte;
tnhnrl 62:d502889e74f1 751
tnhnrl 62:d502889e74f1 752 char char_buffer[256] = {}; //create empty buffer
tnhnrl 62:d502889e74f1 753
tnhnrl 62:d502889e74f1 754 //starting state
tnhnrl 62:d502889e74f1 755 int process_state = HEADER_117;
tnhnrl 62:d502889e74f1 756
tnhnrl 62:d502889e74f1 757 //variables for processing data below
tnhnrl 62:d502889e74f1 758 int checksum_one = -1;
tnhnrl 62:d502889e74f1 759 int checksum_two = -1;
tnhnrl 62:d502889e74f1 760
tnhnrl 62:d502889e74f1 761 int i = 5;
tnhnrl 62:d502889e74f1 762 int serial_timeout = 0;
tnhnrl 62:d502889e74f1 763
tnhnrl 62:d502889e74f1 764 while (pc().readable() && !data_transmission_complete) {
tnhnrl 62:d502889e74f1 765 incoming_byte = pc().getc(); //getc returns an unsigned char cast to an int
tnhnrl 62:d502889e74f1 766 //pc().printf("DEBUG: State 0\n\r");
tnhnrl 62:d502889e74f1 767
tnhnrl 62:d502889e74f1 768 switch(process_state) {
tnhnrl 62:d502889e74f1 769 case HEADER_117:
tnhnrl 62:d502889e74f1 770 //continue processing
tnhnrl 62:d502889e74f1 771 if (incoming_byte == 117){
tnhnrl 62:d502889e74f1 772 process_state = HEADER_101;
tnhnrl 62:d502889e74f1 773 //pc().printf("DEBUG: Case 117\n\r");
tnhnrl 62:d502889e74f1 774 }
tnhnrl 62:d502889e74f1 775 //end transmission
tnhnrl 62:d502889e74f1 776 else if (incoming_byte == 16) {
tnhnrl 62:d502889e74f1 777 process_state = END_TRANSMISSION;
tnhnrl 62:d502889e74f1 778 pc().printf("DEBUG: State 16 (END_TRANSMISSION)\n\r");
tnhnrl 62:d502889e74f1 779 }
tnhnrl 62:d502889e74f1 780 else {
tnhnrl 62:d502889e74f1 781 process_state = HEADER_117; // ???
tnhnrl 62:d502889e74f1 782 //pc().printf("DEBUG: State Header 117\n\r");
tnhnrl 62:d502889e74f1 783 }
tnhnrl 62:d502889e74f1 784 break;
tnhnrl 62:d502889e74f1 785
tnhnrl 62:d502889e74f1 786 case HEADER_101:
tnhnrl 62:d502889e74f1 787 if(incoming_byte == 101) {
tnhnrl 62:d502889e74f1 788 process_state = PACKET_NUM;
tnhnrl 62:d502889e74f1 789 //pc().printf("DEBUG: Case 101\n\r");
tnhnrl 62:d502889e74f1 790 }
tnhnrl 62:d502889e74f1 791 break;
tnhnrl 62:d502889e74f1 792
tnhnrl 62:d502889e74f1 793 case PACKET_NUM:
tnhnrl 62:d502889e74f1 794 receive_packet_number = incoming_byte;
tnhnrl 62:d502889e74f1 795 process_state = TOTAL_NUM_PACKETS;
tnhnrl 62:d502889e74f1 796 //pc().printf("DEBUG: Case PACKET_NUM\n\r");
tnhnrl 62:d502889e74f1 797 break;
tnhnrl 62:d502889e74f1 798
tnhnrl 62:d502889e74f1 799 case TOTAL_NUM_PACKETS:
tnhnrl 62:d502889e74f1 800 receive_total_number_packets = incoming_byte;
tnhnrl 62:d502889e74f1 801 process_state = PACKET_SIZE;
tnhnrl 62:d502889e74f1 802 //pc().printf("DEBUG: Case TOTAL_NUM_PACKETS\n\r");
tnhnrl 62:d502889e74f1 803 break;
tnhnrl 62:d502889e74f1 804
tnhnrl 62:d502889e74f1 805 case PACKET_SIZE:
tnhnrl 62:d502889e74f1 806 receive_packet_size = incoming_byte;
tnhnrl 62:d502889e74f1 807 //pc().printf("DEBUG: Case PACKET_SIZE\n\r");
tnhnrl 62:d502889e74f1 808
tnhnrl 62:d502889e74f1 809 //write the header stuff to it
tnhnrl 62:d502889e74f1 810 char_buffer[0] = 117;
tnhnrl 62:d502889e74f1 811 char_buffer[1] = 101;
tnhnrl 62:d502889e74f1 812 char_buffer[2] = receive_packet_number;
tnhnrl 62:d502889e74f1 813 char_buffer[3] = receive_total_number_packets;
tnhnrl 62:d502889e74f1 814 char_buffer[4] = receive_packet_size;
tnhnrl 62:d502889e74f1 815
tnhnrl 62:d502889e74f1 816 // tests confirmed that packet number is zero, number of packets is 12, packet size is 12
tnhnrl 62:d502889e74f1 817 //pc().printf("char_buffer 2/3/4: %d %d %d\n\r", receive_packet_number,receive_total_number_packets,receive_packet_size);
tnhnrl 68:8f549749b8ce 818
tnhnrl 62:d502889e74f1 819 //process packet data, future version will append for larger data sizes, 0xFFFF
tnhnrl 62:d502889e74f1 820
tnhnrl 62:d502889e74f1 821 // IF YOU GET AN INTERRUPTED DATA STREAM YOU NEED TO BREAK OUT OF THE LOOP
tnhnrl 62:d502889e74f1 822 i = 5;
tnhnrl 62:d502889e74f1 823 serial_timeout = 0;
tnhnrl 62:d502889e74f1 824
tnhnrl 62:d502889e74f1 825 while (true) {
tnhnrl 62:d502889e74f1 826 if (pc().readable()) {
tnhnrl 62:d502889e74f1 827 char_buffer[i] = pc().getc(); //read all of the data packets
tnhnrl 62:d502889e74f1 828 i++;
tnhnrl 62:d502889e74f1 829
tnhnrl 62:d502889e74f1 830 serial_timeout = 0; //reset the timeout
tnhnrl 62:d502889e74f1 831 }
tnhnrl 62:d502889e74f1 832 else {
tnhnrl 62:d502889e74f1 833 serial_timeout++;
tnhnrl 62:d502889e74f1 834 }
tnhnrl 62:d502889e74f1 835
tnhnrl 62:d502889e74f1 836 // When full data packet is received...
tnhnrl 62:d502889e74f1 837 if (i >= receive_packet_size+5) { //cannot do this properly with a for loop
tnhnrl 62:d502889e74f1 838 //get checksum bytes
tnhnrl 62:d502889e74f1 839 checksum_one = pc().getc();
tnhnrl 62:d502889e74f1 840 checksum_two = pc().getc();
tnhnrl 62:d502889e74f1 841
tnhnrl 62:d502889e74f1 842 //calculate the CRC from the header and data bytes using _data_packet (vector)
tnhnrl 62:d502889e74f1 843 //found out calculating crc with string was dropping empty or null spaces
tnhnrl 62:d502889e74f1 844 _data_packet.clear(); //clear it just in case
tnhnrl 62:d502889e74f1 845
tnhnrl 62:d502889e74f1 846 for (int a = 0; a < receive_packet_size+5; a++) {
tnhnrl 62:d502889e74f1 847 _data_packet.push_back(char_buffer[a]); //push the character array into the buffer
tnhnrl 62:d502889e74f1 848 }
tnhnrl 62:d502889e74f1 849
tnhnrl 62:d502889e74f1 850 //calculate the CRC using the vector (strings will cut off null characters)
tnhnrl 62:d502889e74f1 851 int calc_crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 852 int calc_crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 853
tnhnrl 62:d502889e74f1 854 //pc().printf("DEBUG: calc crc 1: %d, crc 2: %d\n\r", calc_crc_one, calc_crc_two);
tnhnrl 62:d502889e74f1 855
tnhnrl 62:d502889e74f1 856 // first confirm that the checksum is correct
tnhnrl 62:d502889e74f1 857 if ((calc_crc_one == checksum_one) and (calc_crc_two == checksum_two)) {
tnhnrl 62:d502889e74f1 858 // CHECKSUM CORRECT & get the filename from the first packet (check that you receive first packet)
tnhnrl 62:d502889e74f1 859 if (receive_packet_number == 0) {
tnhnrl 62:d502889e74f1 860 char temp_char[receive_packet_size+1]; //temp array for memcpy
tnhnrl 62:d502889e74f1 861 memset(&temp_char[0], 0, sizeof(temp_char)); //clear full array (or get random characters)
tnhnrl 62:d502889e74f1 862 strncpy(temp_char, char_buffer + 5 /* Offset */, receive_packet_size*sizeof(char) /* Length */); //memcpy introduced random characters
tnhnrl 62:d502889e74f1 863
tnhnrl 62:d502889e74f1 864 //have to terminate the string with '\0'
tnhnrl 62:d502889e74f1 865 temp_char[receive_packet_size] = '\0';
tnhnrl 62:d502889e74f1 866
tnhnrl 62:d502889e74f1 867 //pc().printf("\n\rDEBUG: ------ Filename? <<%s>>\n\r", temp_char);
tnhnrl 62:d502889e74f1 868 _received_filename = temp_char;
tnhnrl 62:d502889e74f1 869
tnhnrl 62:d502889e74f1 870 //pc().printf("\n\rDEBUG: _received_filename <<%s>>\n\r", _received_filename);
tnhnrl 62:d502889e74f1 871
tnhnrl 62:d502889e74f1 872 //open a file for writing
tnhnrl 62:d502889e74f1 873 openReceiveFile(_received_filename);
tnhnrl 62:d502889e74f1 874
tnhnrl 62:d502889e74f1 875 //send a reply to Python transmit program
tnhnrl 62:d502889e74f1 876 sendReply();
tnhnrl 62:d502889e74f1 877
tnhnrl 62:d502889e74f1 878 led3() = 1;
tnhnrl 62:d502889e74f1 879
tnhnrl 62:d502889e74f1 880 // even if correct CRC, counter prevents the program from writing the same packet twice
tnhnrl 62:d502889e74f1 881 _confirmed_packet_number++;
tnhnrl 62:d502889e74f1 882 }
tnhnrl 62:d502889e74f1 883
tnhnrl 62:d502889e74f1 884 // check if the packet that you're receiving (receive_packet_number) has been received already...
tnhnrl 62:d502889e74f1 885
tnhnrl 62:d502889e74f1 886 //CHECKSUM CORRECT & packet numbers that are 1 through N packets
tnhnrl 62:d502889e74f1 887 else if (receive_packet_number == _confirmed_packet_number){
tnhnrl 62:d502889e74f1 888 //save the data (char buffer) to the file if both checksums work...
tnhnrl 62:d502889e74f1 889
tnhnrl 62:d502889e74f1 890 // when a packet is received (successfully) send a reply
tnhnrl 62:d502889e74f1 891 sendReply();
tnhnrl 62:d502889e74f1 892
tnhnrl 62:d502889e74f1 893 // write correct data to file
tnhnrl 62:d502889e74f1 894 fprintf(_fp, "%s", char_buffer+5);
tnhnrl 62:d502889e74f1 895
tnhnrl 62:d502889e74f1 896 // even if correct CRC, counter prevents the program from writing the same packet twice
tnhnrl 62:d502889e74f1 897 _confirmed_packet_number++;
tnhnrl 62:d502889e74f1 898 }
tnhnrl 62:d502889e74f1 899
tnhnrl 62:d502889e74f1 900 //clear the variables
tnhnrl 62:d502889e74f1 901 checksum_one = -1;
tnhnrl 62:d502889e74f1 902 checksum_two = -1;
tnhnrl 62:d502889e74f1 903 }
tnhnrl 62:d502889e74f1 904
tnhnrl 62:d502889e74f1 905 process_state = HEADER_117;
tnhnrl 62:d502889e74f1 906
tnhnrl 62:d502889e74f1 907 break;
tnhnrl 62:d502889e74f1 908 }
tnhnrl 62:d502889e74f1 909
tnhnrl 62:d502889e74f1 910 //counter breaks out of the loop if no data received
tnhnrl 62:d502889e74f1 911 if (serial_timeout >= 10000) {
tnhnrl 62:d502889e74f1 912 //pc().printf("break serial_timeout %d\n\r", serial_timeout);
tnhnrl 62:d502889e74f1 913 break;
tnhnrl 62:d502889e74f1 914 }
tnhnrl 62:d502889e74f1 915 }
tnhnrl 62:d502889e74f1 916 break;
tnhnrl 62:d502889e74f1 917
tnhnrl 62:d502889e74f1 918 case END_TRANSMISSION:
tnhnrl 62:d502889e74f1 919 if (pc().getc() == 16) {
tnhnrl 62:d502889e74f1 920 pc().printf("DEBUG: END_TRANSMISSION REACHED: 1. \n\r");
tnhnrl 62:d502889e74f1 921
tnhnrl 62:d502889e74f1 922 if (pc().getc() == 16) {
tnhnrl 62:d502889e74f1 923 pc().printf("DEBUG: END_TRANSMISSION REACHED: 2. \n\r");
tnhnrl 62:d502889e74f1 924
tnhnrl 62:d502889e74f1 925 endReceiveData();
tnhnrl 62:d502889e74f1 926 }
tnhnrl 62:d502889e74f1 927 }
tnhnrl 62:d502889e74f1 928
tnhnrl 62:d502889e74f1 929 pc().printf("DEBUG: END_TRANSMISSION REACHED: 5. \n\r");
tnhnrl 62:d502889e74f1 930
tnhnrl 62:d502889e74f1 931 //process_state = HEADER_117; //don't do this unless the check is wrong
tnhnrl 62:d502889e74f1 932 pc().printf("END_TRANSMISSION process_state is %d\n\r", process_state); //should be 5 (debug) 02/06/2018
tnhnrl 62:d502889e74f1 933 data_transmission_complete = true;
tnhnrl 62:d502889e74f1 934 break;
tnhnrl 62:d502889e74f1 935 }//END OF SWITCH
tnhnrl 62:d502889e74f1 936
tnhnrl 62:d502889e74f1 937 if (data_transmission_complete) {
tnhnrl 62:d502889e74f1 938 pc().printf("DEBUG: checkForIncomingData data_transmission_complete \n\r");
tnhnrl 62:d502889e74f1 939 break; //out of while loop
tnhnrl 62:d502889e74f1 940 }
tnhnrl 62:d502889e74f1 941 } // while loop
tnhnrl 62:d502889e74f1 942
tnhnrl 62:d502889e74f1 943 led3() = !led3();
tnhnrl 62:d502889e74f1 944
tnhnrl 62:d502889e74f1 945 if (data_transmission_complete)
tnhnrl 62:d502889e74f1 946 return false; //tell state machine class that this is done (not transmitting, false)
tnhnrl 62:d502889e74f1 947 else {
tnhnrl 62:d502889e74f1 948 return true;
tnhnrl 62:d502889e74f1 949 }
tnhnrl 62:d502889e74f1 950 }
tnhnrl 62:d502889e74f1 951
tnhnrl 62:d502889e74f1 952 int MbedLogger::sendReply() {
tnhnrl 62:d502889e74f1 953 //being explicit in what's being transmitted
tnhnrl 62:d502889e74f1 954
tnhnrl 62:d502889e74f1 955 //change this method to be more explicit later
tnhnrl 62:d502889e74f1 956
tnhnrl 62:d502889e74f1 957 //integer vector _data_packet is used here, cleared fist just in case
tnhnrl 62:d502889e74f1 958
tnhnrl 62:d502889e74f1 959 _data_packet.clear(); //same data packet for transmission
tnhnrl 62:d502889e74f1 960 _data_packet.push_back(117);
tnhnrl 62:d502889e74f1 961 _data_packet.push_back(101);
tnhnrl 62:d502889e74f1 962
tnhnrl 62:d502889e74f1 963 //_confirmed_packet_number comes from the packet number that is sent from the Python program
tnhnrl 62:d502889e74f1 964 _data_packet.push_back(_confirmed_packet_number / 256); //packet number only changed when confirmed
tnhnrl 62:d502889e74f1 965 _data_packet.push_back(_confirmed_packet_number % 256); //split into first and second byte
tnhnrl 62:d502889e74f1 966
tnhnrl 62:d502889e74f1 967 //compute checksums
tnhnrl 62:d502889e74f1 968
tnhnrl 62:d502889e74f1 969 int receiver_crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 970 int receiver_crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 971
tnhnrl 62:d502889e74f1 972 _data_packet.push_back(receiver_crc_one);
tnhnrl 62:d502889e74f1 973 _data_packet.push_back(receiver_crc_two);
tnhnrl 62:d502889e74f1 974
tnhnrl 62:d502889e74f1 975 //transmit this packet
tnhnrl 62:d502889e74f1 976 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++) {
tnhnrl 62:d502889e74f1 977 pc().putc(*_it); //send integers over serial port one byte at a time
tnhnrl 62:d502889e74f1 978 }
tnhnrl 62:d502889e74f1 979
tnhnrl 62:d502889e74f1 980 //change process methodology later...
tnhnrl 62:d502889e74f1 981
tnhnrl 62:d502889e74f1 982 return _confirmed_packet_number;
tnhnrl 62:d502889e74f1 983 }
tnhnrl 62:d502889e74f1 984
tnhnrl 62:d502889e74f1 985 void MbedLogger::endReceiveData() { //DLE character * 4 ==> 10 10 10 10
tnhnrl 62:d502889e74f1 986 closeLogFile(); //close the file here
tnhnrl 62:d502889e74f1 987 pc().printf("endReceiveData closed the file and ended transmission\n\r");
tnhnrl 62:d502889e74f1 988 }
tnhnrl 62:d502889e74f1 989
tnhnrl 62:d502889e74f1 990 //calculate the crc with an integer array
tnhnrl 62:d502889e74f1 991 int MbedLogger::calcCrcOneArray(int *input_array, int array_length) {
tnhnrl 62:d502889e74f1 992 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 993 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 994 int crc = 0;
tnhnrl 62:d502889e74f1 995 for (int z = 0; z < array_length; z++) {
tnhnrl 62:d502889e74f1 996 crc = (crc_table[(input_array[z] ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 997 }
tnhnrl 62:d502889e74f1 998 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 999 }
tnhnrl 62:d502889e74f1 1000
tnhnrl 62:d502889e74f1 1001 int MbedLogger::calcCrcTwoArray(int *input_array, int array_length) {
tnhnrl 62:d502889e74f1 1002 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 1003 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 1004 int crc = 0;
tnhnrl 62:d502889e74f1 1005 for (int z = 0; z < array_length; z++) {
tnhnrl 62:d502889e74f1 1006 crc = (crc_table[(input_array[z] ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1007 }
tnhnrl 62:d502889e74f1 1008 return crc % 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1009 }
tnhnrl 62:d502889e74f1 1010
tnhnrl 62:d502889e74f1 1011 int MbedLogger::calcCrcOne() {
tnhnrl 62:d502889e74f1 1012 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 1013 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 1014
tnhnrl 62:d502889e74f1 1015 int crc = 0;
tnhnrl 62:d502889e74f1 1016 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++)
tnhnrl 62:d502889e74f1 1017 crc = (crc_table[(*_it ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1018
tnhnrl 62:d502889e74f1 1019 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1020 }
tnhnrl 62:d502889e74f1 1021
tnhnrl 62:d502889e74f1 1022 int MbedLogger::calcCrcTwo() {
tnhnrl 62:d502889e74f1 1023 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 1024
tnhnrl 62:d502889e74f1 1025 int crc = 0;
tnhnrl 62:d502889e74f1 1026 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++)
tnhnrl 62:d502889e74f1 1027 crc = (crc_table[(*_it ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1028
tnhnrl 62:d502889e74f1 1029 //pc().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_array.length(), crc % 256);
tnhnrl 62:d502889e74f1 1030
tnhnrl 62:d502889e74f1 1031 return crc % 256; //last byte
tnhnrl 62:d502889e74f1 1032 }
tnhnrl 62:d502889e74f1 1033
tnhnrl 62:d502889e74f1 1034 void MbedLogger::resetReplyPacket() {
tnhnrl 62:d502889e74f1 1035 _confirmed_packet_number = 0;
tnhnrl 62:d502889e74f1 1036 }
tnhnrl 62:d502889e74f1 1037
tnhnrl 62:d502889e74f1 1038 void MbedLogger::openNewMissionFile() {
tnhnrl 62:d502889e74f1 1039 pc().printf("Opening Mission file (sequence.txt) for reception.\n\r");
tnhnrl 62:d502889e74f1 1040 string filename_string = _file_system_string + "sequence.txt";
tnhnrl 62:d502889e74f1 1041
tnhnrl 62:d502889e74f1 1042 pc().printf("openNewMissionFile: %s\n\r", filename_string.c_str());
tnhnrl 62:d502889e74f1 1043
tnhnrl 62:d502889e74f1 1044 _fp = fopen(filename_string.c_str(), "w");
tnhnrl 62:d502889e74f1 1045 }
tnhnrl 62:d502889e74f1 1046
tnhnrl 62:d502889e74f1 1047 void MbedLogger::openReceiveFile(string filename) {
tnhnrl 62:d502889e74f1 1048 string filename_string = _file_system_string + filename; //example "sequence.txt"
tnhnrl 62:d502889e74f1 1049
tnhnrl 62:d502889e74f1 1050 _fp = fopen(filename_string.c_str(), "w"); //open a file for writing
tnhnrl 62:d502889e74f1 1051 }
tnhnrl 62:d502889e74f1 1052
tnhnrl 62:d502889e74f1 1053 void MbedLogger::setDataCounter(int input_counter) {
tnhnrl 62:d502889e74f1 1054 _transmit_counter = input_counter;
tnhnrl 62:d502889e74f1 1055 }
tnhnrl 62:d502889e74f1 1056
tnhnrl 62:d502889e74f1 1057 void MbedLogger::closeIncompleteFile() {
tnhnrl 62:d502889e74f1 1058 fprintf(_fp, "TRANSMISSION INTERRUPTED!"); //write this warning to the file
tnhnrl 62:d502889e74f1 1059 closeLogFile(); //close file
tnhnrl 62:d502889e74f1 1060 }
tnhnrl 62:d502889e74f1 1061
tnhnrl 62:d502889e74f1 1062 void MbedLogger::appendLogFile(int current_state, int option) {
tnhnrl 62:d502889e74f1 1063 //option one means write to file
tnhnrl 62:d502889e74f1 1064
tnhnrl 62:d502889e74f1 1065 if (option == 1) {
tnhnrl 62:d502889e74f1 1066 if (!_fp) { //if not present
tnhnrl 62:d502889e74f1 1067 _fp = fopen(_full_file_path_string.c_str(), "a");
tnhnrl 62:d502889e74f1 1068 }
tnhnrl 62:d502889e74f1 1069
tnhnrl 62:d502889e74f1 1070 //record data using the recordData function (takes in the state integer)
tnhnrl 62:d502889e74f1 1071 recordData(current_state);
tnhnrl 62:d502889e74f1 1072 }
tnhnrl 62:d502889e74f1 1073
tnhnrl 62:d502889e74f1 1074 else {
tnhnrl 62:d502889e74f1 1075 closeLogFile();
tnhnrl 62:d502889e74f1 1076 }
tnhnrl 62:d502889e74f1 1077 }
tnhnrl 62:d502889e74f1 1078
tnhnrl 62:d502889e74f1 1079 // initialize and close the file
tnhnrl 62:d502889e74f1 1080 // log file freezes at 0x0000006c
tnhnrl 62:d502889e74f1 1081 void MbedLogger::initializeLogFile() {
tnhnrl 62:d502889e74f1 1082 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 1083 pc().printf("%s file system init\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 1084
tnhnrl 62:d502889e74f1 1085 //try to open this file...
tnhnrl 62:d502889e74f1 1086 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 1087
tnhnrl 62:d502889e74f1 1088 //if the file is empty, create this.
tnhnrl 62:d502889e74f1 1089 if (!_fp) {
tnhnrl 62:d502889e74f1 1090 _fp = fopen(file_name_string.c_str(), "w"); //write,print,close
tnhnrl 67:c86a4b464682 1091 //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 1092 fprintf(_fp,_heading_string.c_str());
tnhnrl 62:d502889e74f1 1093 closeLogFile();
tnhnrl 62:d502889e74f1 1094 }
tnhnrl 62:d502889e74f1 1095 else
tnhnrl 62:d502889e74f1 1096 closeLogFile(); //close the opened read file
tnhnrl 62:d502889e74f1 1097 }
tnhnrl 62:d502889e74f1 1098
tnhnrl 62:d502889e74f1 1099 int MbedLogger::fileTransmitState() {
tnhnrl 62:d502889e74f1 1100 return _file_transmission_state;
tnhnrl 62:d502889e74f1 1101 }
tnhnrl 62:d502889e74f1 1102
tnhnrl 62:d502889e74f1 1103 int MbedLogger::calcCrcOneString (string input_string) {
tnhnrl 62:d502889e74f1 1104 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 1105
tnhnrl 62:d502889e74f1 1106 int crc = 0;
tnhnrl 62:d502889e74f1 1107 for (unsigned int i = 0; i < input_string.length(); i++) {
tnhnrl 62:d502889e74f1 1108 //convert each character to an integer
tnhnrl 62:d502889e74f1 1109 int character_to_integer = input_string[i]; //correct
tnhnrl 62:d502889e74f1 1110
tnhnrl 62:d502889e74f1 1111 crc = (crc_table[(character_to_integer ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1112 }
tnhnrl 62:d502889e74f1 1113
tnhnrl 62:d502889e74f1 1114 //pc().printf("DEBUG: calcCrcOne string length: %d crc: %d\n\r", input_string.length(), crc/256);
tnhnrl 62:d502889e74f1 1115
tnhnrl 62:d502889e74f1 1116 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1117 }
tnhnrl 62:d502889e74f1 1118
tnhnrl 62:d502889e74f1 1119 int MbedLogger::calcCrcTwoString (string input_string) {
tnhnrl 62:d502889e74f1 1120 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 1121
tnhnrl 62:d502889e74f1 1122 int crc = 0;
tnhnrl 62:d502889e74f1 1123 for (unsigned int i = 0; i < input_string.length(); i++) {
tnhnrl 62:d502889e74f1 1124 //convert each character to an integer
tnhnrl 62:d502889e74f1 1125 int character_to_integer = input_string[i]; //correct
tnhnrl 62:d502889e74f1 1126
tnhnrl 62:d502889e74f1 1127 crc = (crc_table[(character_to_integer ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1128 }
tnhnrl 62:d502889e74f1 1129
tnhnrl 62:d502889e74f1 1130 //pc().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_string.length(), crc % 256);
tnhnrl 62:d502889e74f1 1131
tnhnrl 62:d502889e74f1 1132 return crc % 256; //last byte
tnhnrl 62:d502889e74f1 1133 }
tnhnrl 62:d502889e74f1 1134
tnhnrl 67:c86a4b464682 1135 //delete
tnhnrl 67:c86a4b464682 1136 //int MbedLogger::testGetFileSize() {
tnhnrl 67:c86a4b464682 1137 // string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 67:c86a4b464682 1138 //
tnhnrl 67:c86a4b464682 1139 // _fp = fopen(file_name_string.c_str(), "rb"); //open the file for reading as a binary file
tnhnrl 67:c86a4b464682 1140 //
tnhnrl 67:c86a4b464682 1141 // fseek(_fp, 0, SEEK_END); //SEEK_END is a constant in cstdio (end of the file)
tnhnrl 67:c86a4b464682 1142 // unsigned int file_size = ftell(_fp); //For binary streams, this is the number of bytes from the beginning of the file.
tnhnrl 67:c86a4b464682 1143 // fseek(_fp, 0, SEEK_SET); //SEEK_SET is hte beginning of the file, not sure this is necessary
tnhnrl 67:c86a4b464682 1144 //
tnhnrl 67:c86a4b464682 1145 // closeLogFile(); //can probably just close the file pointer and not worry about position
tnhnrl 67:c86a4b464682 1146 //
tnhnrl 67:c86a4b464682 1147 // pc().printf("(%s) LOG000.csv file size is %d\n\r", _file_system_string.c_str(), file_size);
tnhnrl 67:c86a4b464682 1148 //
tnhnrl 67:c86a4b464682 1149 // if (file_size == 0)
tnhnrl 67:c86a4b464682 1150 // createEmptyLog(); //this is not actually a completely empty log
tnhnrl 67:c86a4b464682 1151 //
tnhnrl 67:c86a4b464682 1152 // return file_size;
tnhnrl 67:c86a4b464682 1153 //
tnhnrl 67:c86a4b464682 1154 // // http://www.cplusplus.com/reference/cstdio/ftell/
tnhnrl 67:c86a4b464682 1155 // // https://os.mbed.com/questions/1260/How-to-read-the-LocalFileSystem-filesize/
tnhnrl 67:c86a4b464682 1156 //}
tnhnrl 67:c86a4b464682 1157 //delete
tnhnrl 62:d502889e74f1 1158
tnhnrl 62:d502889e74f1 1159 void MbedLogger::createEmptyLog() {
tnhnrl 62:d502889e74f1 1160 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 67:c86a4b464682 1161 string empty_log = "EMPTY LOG";
tnhnrl 62:d502889e74f1 1162
tnhnrl 62:d502889e74f1 1163 _fp = fopen(file_name_string.c_str(), "w");
tnhnrl 67:c86a4b464682 1164
tnhnrl 67:c86a4b464682 1165 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 1166 closeLogFile();
tnhnrl 62:d502889e74f1 1167 }
tnhnrl 62:d502889e74f1 1168
tnhnrl 62:d502889e74f1 1169 int MbedLogger::getFileSize(string filename) {
tnhnrl 62:d502889e74f1 1170 // fixed the const char * errror:
tnhnrl 62:d502889e74f1 1171 // https://stackoverflow.com/questions/347949/how-to-convert-a-stdstring-to-const-char-or-char
tnhnrl 62:d502889e74f1 1172 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 1173 //http://www.cplusplus.com/reference/string/string/c_str/
tnhnrl 62:d502889e74f1 1174
tnhnrl 62:d502889e74f1 1175 _fp = fopen(filename.c_str(), "rb"); //open the file for reading as a binary file
tnhnrl 62:d502889e74f1 1176
tnhnrl 62:d502889e74f1 1177 fseek(_fp, 0, SEEK_END); //SEEK_END is a constant in cstdio (end of the file)
tnhnrl 62:d502889e74f1 1178 unsigned int file_size = ftell(_fp); //For binary streams, this is the number of bytes from the beginning of the file.
tnhnrl 62:d502889e74f1 1179 fseek(_fp, 0, SEEK_SET); //SEEK_SET is hte beginning of the file, not sure this is necessary
tnhnrl 62:d502889e74f1 1180
tnhnrl 62:d502889e74f1 1181 closeLogFile(); //can probably just close the file pointer and not worry about position
tnhnrl 62:d502889e74f1 1182
tnhnrl 62:d502889e74f1 1183 pc().printf("%s file size is %d\n\r", filename.c_str(), file_size);
tnhnrl 62:d502889e74f1 1184
tnhnrl 62:d502889e74f1 1185 return file_size;
tnhnrl 62:d502889e74f1 1186 }
tnhnrl 62:d502889e74f1 1187
tnhnrl 62:d502889e74f1 1188 int MbedLogger::debugFileState() {
tnhnrl 62:d502889e74f1 1189 pc().printf("What is _fp right now? %p\n\r", _fp); //pointer notation
tnhnrl 62:d502889e74f1 1190
tnhnrl 62:d502889e74f1 1191 if (_fp)
tnhnrl 62:d502889e74f1 1192 return 1; //file pointer does exist
tnhnrl 62:d502889e74f1 1193 else
tnhnrl 62:d502889e74f1 1194 return 0; //file pointer does not exist
tnhnrl 62:d502889e74f1 1195 }
tnhnrl 62:d502889e74f1 1196
tnhnrl 62:d502889e74f1 1197 void MbedLogger::specifyFileForTransmit(string input_string) {
tnhnrl 62:d502889e74f1 1198 pc().printf("specifyFileForTransmit\n\r");
tnhnrl 62:d502889e74f1 1199
tnhnrl 62:d502889e74f1 1200 string file_string = _file_system_string + input_string;
tnhnrl 62:d502889e74f1 1201
tnhnrl 62:d502889e74f1 1202 pc().printf("file_string is <%s>\n\r", file_string.c_str());
tnhnrl 62:d502889e74f1 1203
tnhnrl 62:d502889e74f1 1204 //open this file to read
tnhnrl 62:d502889e74f1 1205 _fp = fopen(file_string.c_str(), "r");
tnhnrl 62:d502889e74f1 1206
tnhnrl 62:d502889e74f1 1207 //transmit that file
tnhnrl 62:d502889e74f1 1208 //transmitDataWithTicker(); //replaced ticker
tnhnrl 62:d502889e74f1 1209
tnhnrl 62:d502889e74f1 1210 _file_transmission = true;
tnhnrl 62:d502889e74f1 1211 }
tnhnrl 62:d502889e74f1 1212
tnhnrl 62:d502889e74f1 1213 void MbedLogger::transmitFileFromDirectory( int file_number ) {
tnhnrl 62:d502889e74f1 1214 file_number = file_number + 1; //to get the correct number
tnhnrl 62:d502889e74f1 1215
tnhnrl 62:d502889e74f1 1216 DIR *dir;
tnhnrl 62:d502889e74f1 1217 struct dirent *dp; //dirent.h is the format of directory entries
tnhnrl 62:d502889e74f1 1218 int log_found =0, loop=1; //start file numbers at 1
tnhnrl 62:d502889e74f1 1219 long int temp=0;
tnhnrl 62:d502889e74f1 1220
tnhnrl 62:d502889e74f1 1221 // char * char_pointer;
tnhnrl 62:d502889e74f1 1222 // char * numstart, *numstop;
tnhnrl 62:d502889e74f1 1223
tnhnrl 62:d502889e74f1 1224 if ( NULL == (dir = opendir( _file_system_string.c_str() )) ) {
tnhnrl 62:d502889e74f1 1225 pc().printf("MBED directory could not be opened\r\n");
tnhnrl 62:d502889e74f1 1226 }
tnhnrl 62:d502889e74f1 1227 else
tnhnrl 62:d502889e74f1 1228 {
tnhnrl 62:d502889e74f1 1229 while ( NULL != (dp = readdir( dir )) )
tnhnrl 62:d502889e74f1 1230 {
tnhnrl 62:d502889e74f1 1231 pc().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
tnhnrl 62:d502889e74f1 1232
tnhnrl 62:d502889e74f1 1233 //process current file if it matches the file number
tnhnrl 62:d502889e74f1 1234 if (file_number == loop) {
tnhnrl 62:d502889e74f1 1235 char * current_file_name = dp->d_name; //pointer to this char array
tnhnrl 62:d502889e74f1 1236
tnhnrl 62:d502889e74f1 1237 specifyFileForTransmit(current_file_name);
tnhnrl 62:d502889e74f1 1238
tnhnrl 62:d502889e74f1 1239 break;
tnhnrl 62:d502889e74f1 1240 }
tnhnrl 62:d502889e74f1 1241
tnhnrl 62:d502889e74f1 1242 loop++;
tnhnrl 62:d502889e74f1 1243 }
tnhnrl 62:d502889e74f1 1244 }
tnhnrl 62:d502889e74f1 1245 }
tnhnrl 62:d502889e74f1 1246
tnhnrl 62:d502889e74f1 1247 void MbedLogger::accessMbedDirectory() {
tnhnrl 62:d502889e74f1 1248 printMbedDirectory();
tnhnrl 62:d502889e74f1 1249
tnhnrl 62:d502889e74f1 1250 pc().printf("Type in the number of the file you want to transmit.\n\r");
tnhnrl 62:d502889e74f1 1251
tnhnrl 62:d502889e74f1 1252 char message[42];
tnhnrl 62:d502889e74f1 1253
tnhnrl 62:d502889e74f1 1254 pc().scanf("%41s", message);
tnhnrl 62:d502889e74f1 1255
tnhnrl 62:d502889e74f1 1256 pc().printf("Input received!\n\r");
tnhnrl 62:d502889e74f1 1257
tnhnrl 62:d502889e74f1 1258 //check if char array is an integer
tnhnrl 62:d502889e74f1 1259 char* conversion_pointer;
tnhnrl 62:d502889e74f1 1260 long converted = strtol(message, &conversion_pointer, 10);
tnhnrl 62:d502889e74f1 1261
tnhnrl 62:d502889e74f1 1262 if (*conversion_pointer) {
tnhnrl 62:d502889e74f1 1263 //conversion failed because the input was not a number
tnhnrl 62:d502889e74f1 1264 pc().printf("NOT A VALID FILE NUMBER!\n\r");
tnhnrl 62:d502889e74f1 1265 }
tnhnrl 62:d502889e74f1 1266 else {
tnhnrl 62:d502889e74f1 1267 //conversion worked!
tnhnrl 62:d502889e74f1 1268 pc().printf("You chose file number: %d\n\r", converted);
tnhnrl 62:d502889e74f1 1269
tnhnrl 62:d502889e74f1 1270 // transmit the file
tnhnrl 62:d502889e74f1 1271 transmitFileFromDirectory(converted);
tnhnrl 62:d502889e74f1 1272 }
tnhnrl 62:d502889e74f1 1273 }
tnhnrl 62:d502889e74f1 1274
tnhnrl 62:d502889e74f1 1275 void MbedLogger::closeLogFile() {
tnhnrl 68:8f549749b8ce 1276 led4() = 1;
tnhnrl 68:8f549749b8ce 1277
tnhnrl 62:d502889e74f1 1278 if (_fp == NULL){
tnhnrl 62:d502889e74f1 1279 pc().printf("MbedLogger: (%s) LOG FILE WAS ALREADY CLOSED!\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 1280 }
tnhnrl 62:d502889e74f1 1281
tnhnrl 62:d502889e74f1 1282 else {
tnhnrl 62:d502889e74f1 1283 pc().printf("MbedLogger: (%s) CLOSING LOG FILE!\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 1284
tnhnrl 62:d502889e74f1 1285 //close file
tnhnrl 62:d502889e74f1 1286 fclose(_fp);
tnhnrl 62:d502889e74f1 1287
tnhnrl 62:d502889e74f1 1288 _fp = NULL; //set pointer to zero
tnhnrl 62:d502889e74f1 1289 }
tnhnrl 62:d502889e74f1 1290 }
tnhnrl 62:d502889e74f1 1291
tnhnrl 62:d502889e74f1 1292 void MbedLogger::activateReceivePacket() {
tnhnrl 62:d502889e74f1 1293 _mbed_receive_loop = true;
tnhnrl 62:d502889e74f1 1294 }
tnhnrl 62:d502889e74f1 1295
tnhnrl 62:d502889e74f1 1296 void MbedLogger::receiveMissionDataWithFSM() {
tnhnrl 62:d502889e74f1 1297 checkForIncomingData();
tnhnrl 62:d502889e74f1 1298
tnhnrl 62:d502889e74f1 1299 // Example: send reply 75 65 00 00
tnhnrl 62:d502889e74f1 1300 // Example: send reply 75 65 00 01
tnhnrl 62:d502889e74f1 1301 }
tnhnrl 62:d502889e74f1 1302
tnhnrl 62:d502889e74f1 1303 void MbedLogger::receiveMissionDataWithTicker() {
tnhnrl 62:d502889e74f1 1304 openNewMissionFile(); //sequence.txt file opened
tnhnrl 62:d502889e74f1 1305
tnhnrl 62:d502889e74f1 1306 _mbed_receive_ticker.attach(callback(this, &MbedLogger::activateReceivePacket), 0.5);
tnhnrl 62:d502889e74f1 1307
tnhnrl 62:d502889e74f1 1308 pc().printf("\n\r02/09/2018 MbedLogger receiveMissionData Beginning to receive sequence data...\n\r");
tnhnrl 62:d502889e74f1 1309
tnhnrl 62:d502889e74f1 1310 resetReplyPacket(); //reset the reply packet
tnhnrl 62:d502889e74f1 1311
tnhnrl 62:d502889e74f1 1312 //idea for stopping this if data not being received
tnhnrl 62:d502889e74f1 1313 int current_packet_number = 0;
tnhnrl 62:d502889e74f1 1314 int last_packet_number = -1;
tnhnrl 62:d502889e74f1 1315 int break_transmission = 0;
tnhnrl 62:d502889e74f1 1316
tnhnrl 62:d502889e74f1 1317 while(1) {
tnhnrl 62:d502889e74f1 1318 //runs at 10 hz
tnhnrl 62:d502889e74f1 1319 if (_mbed_receive_loop) {
tnhnrl 62:d502889e74f1 1320 if (!checkForIncomingData()) { // run this until it finishes
tnhnrl 62:d502889e74f1 1321 //when you complete data reception, this will become false
tnhnrl 62:d502889e74f1 1322 pc().printf("\n\rMbedLogger: Data RECEPTION complete.\n\r");
tnhnrl 62:d502889e74f1 1323 _mbed_receive_ticker.detach();
tnhnrl 62:d502889e74f1 1324 break;
tnhnrl 62:d502889e74f1 1325 }
tnhnrl 62:d502889e74f1 1326 else {
tnhnrl 62:d502889e74f1 1327
tnhnrl 62:d502889e74f1 1328 // SEND REPLY 75 65 00 00
tnhnrl 62:d502889e74f1 1329 // SEND REPLY 75 65 00 01
tnhnrl 62:d502889e74f1 1330
tnhnrl 62:d502889e74f1 1331 //check if you keep getting the same thing
tnhnrl 62:d502889e74f1 1332 current_packet_number = sendReply();
tnhnrl 62:d502889e74f1 1333
tnhnrl 62:d502889e74f1 1334 //pc().printf("DEBUG: current packet number %d (last packet number %d) \n\r", current_packet_number, last_packet_number); //debug
tnhnrl 62:d502889e74f1 1335
tnhnrl 62:d502889e74f1 1336 //let this count up a few times before it exits
tnhnrl 62:d502889e74f1 1337 if (current_packet_number == last_packet_number) {
tnhnrl 62:d502889e74f1 1338 break_transmission++;
tnhnrl 62:d502889e74f1 1339
tnhnrl 62:d502889e74f1 1340 //break transmission after 50 failed attempts (was 100)
tnhnrl 62:d502889e74f1 1341 if (break_transmission >= 50) {
tnhnrl 62:d502889e74f1 1342 closeIncompleteFile(); //close the file
tnhnrl 62:d502889e74f1 1343 _mbed_receive_ticker.detach();
tnhnrl 62:d502889e74f1 1344 pc().printf("MbedLogger: TRANSMISSION INTERRUPTED!\n\r");
tnhnrl 62:d502889e74f1 1345 break;
tnhnrl 62:d502889e74f1 1346 }
tnhnrl 62:d502889e74f1 1347 }
tnhnrl 62:d502889e74f1 1348 else
tnhnrl 62:d502889e74f1 1349 last_packet_number = current_packet_number;
tnhnrl 62:d502889e74f1 1350 }
tnhnrl 62:d502889e74f1 1351 _mbed_receive_loop = false; // wait until the loop rate timer fires again
tnhnrl 62:d502889e74f1 1352 }
tnhnrl 62:d502889e74f1 1353 }
tnhnrl 62:d502889e74f1 1354 }
tnhnrl 62:d502889e74f1 1355
tnhnrl 62:d502889e74f1 1356 int MbedLogger::getNumberOfPackets() {
tnhnrl 62:d502889e74f1 1357 return _total_number_of_packets;
tnhnrl 62:d502889e74f1 1358 }
tnhnrl 62:d502889e74f1 1359
tnhnrl 62:d502889e74f1 1360 //only do this for the MBED because of the limited file size
tnhnrl 62:d502889e74f1 1361 //write one line to the file (open to write, this will erase all other data) and close it.
tnhnrl 62:d502889e74f1 1362 void MbedLogger::eraseFile() {
tnhnrl 62:d502889e74f1 1363 _fp = fopen(_full_file_path_string.c_str(), "w"); // LOG000.csv
tnhnrl 62:d502889e74f1 1364
tnhnrl 67:c86a4b464682 1365 fprintf(_fp,_heading_string.c_str());
tnhnrl 67:c86a4b464682 1366
tnhnrl 67:c86a4b464682 1367 // _heading_string = "state_string,state_ID,timer,depth_cmd,depth_ft,pitch_cmd,pitch_deg,bce_cmd,bce_mm,batt_cmd,batt_mm,pitchRate_degs,depthRate_fps,sys_amps,sys_volts\n(file erased)"
tnhnrl 62:d502889e74f1 1368
tnhnrl 62:d502889e74f1 1369 closeLogFile();
tnhnrl 62:d502889e74f1 1370 }
tnhnrl 62:d502889e74f1 1371
tnhnrl 62:d502889e74f1 1372 void MbedLogger::intCreateDataPacket(int data_buffer[],int payload_length) {
tnhnrl 62:d502889e74f1 1373 // packet is 7565 0001 FFFF EEEE CC DATA DATA DATA ... CRC1 CRC2
tnhnrl 62:d502889e74f1 1374
tnhnrl 62:d502889e74f1 1375 //check here https://www.rapidtables.com/convert/number/hex-to-decimal.html?x=01c0
tnhnrl 62:d502889e74f1 1376 // ieee 754: http://www6.uniovi.es/~antonio/uned/ieee754/IEEE-754hex32.html
tnhnrl 62:d502889e74f1 1377
tnhnrl 62:d502889e74f1 1378 //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
tnhnrl 62:d502889e74f1 1379 _data_packet.clear();
tnhnrl 62:d502889e74f1 1380
tnhnrl 62:d502889e74f1 1381 //DATA PACKET HEADER
tnhnrl 62:d502889e74f1 1382 _data_packet.push_back(117); //0x75
tnhnrl 62:d502889e74f1 1383 _data_packet.push_back(101); //0x65
tnhnrl 62:d502889e74f1 1384
tnhnrl 62:d502889e74f1 1385 _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 1386 _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 1387
tnhnrl 62:d502889e74f1 1388 _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 1389 _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 1390
tnhnrl 62:d502889e74f1 1391 _data_packet.push_back(_current_line_length);
tnhnrl 62:d502889e74f1 1392
tnhnrl 62:d502889e74f1 1393 //DATA FROM INTEGER ARRAY (read the array)
tnhnrl 62:d502889e74f1 1394 for (int i = 0; i < payload_length; i++) {
tnhnrl 62:d502889e74f1 1395 _data_packet.push_back(data_buffer[i]);
tnhnrl 62:d502889e74f1 1396 }
tnhnrl 62:d502889e74f1 1397
tnhnrl 62:d502889e74f1 1398 //CRC CALCULATIONS BELOW, character version of calculation screws up on null character 0x00, scrapped and using vector of integers
tnhnrl 62:d502889e74f1 1399 int crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 1400 int crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 1401
tnhnrl 62:d502889e74f1 1402 //place the crc bytes into the data packet that is transmitted
tnhnrl 62:d502889e74f1 1403 _data_packet.push_back(crc_one);
tnhnrl 62:d502889e74f1 1404 _data_packet.push_back(crc_two);
tnhnrl 62:d502889e74f1 1405 }
tnhnrl 62:d502889e74f1 1406
tnhnrl 62:d502889e74f1 1407 void MbedLogger::sendStatus() {
tnhnrl 62:d502889e74f1 1408 led3() = !led3();
tnhnrl 62:d502889e74f1 1409 //readPacketInSeries() //uses this functionality
tnhnrl 62:d502889e74f1 1410
tnhnrl 62:d502889e74f1 1411 //get data depth, pitch, heading, timer
tnhnrl 62:d502889e74f1 1412
tnhnrl 62:d502889e74f1 1413 //store the data as a hex char array
tnhnrl 62:d502889e74f1 1414 char hex_char_depth[256];
tnhnrl 62:d502889e74f1 1415 char hex_char_pitch[256];
tnhnrl 62:d502889e74f1 1416 char hex_char_heading[256];
tnhnrl 62:d502889e74f1 1417 char hex_char_timer[256];
tnhnrl 62:d502889e74f1 1418
tnhnrl 62:d502889e74f1 1419 string string_hex_buffer = ""; //buffer to store the hex data as a string
tnhnrl 62:d502889e74f1 1420 string string_temp; // ELIMINATE THIS ASAP
tnhnrl 62:d502889e74f1 1421
tnhnrl 62:d502889e74f1 1422 float depth_value = depthLoop().getPosition();
tnhnrl 62:d502889e74f1 1423 float pitch_value = imu().getPitch();
tnhnrl 62:d502889e74f1 1424 float heading_value = imu().getHeading();
tnhnrl 63:6cb0405fc6e6 1425 //float timer_value = stateMachine().getTimer();
tnhnrl 63:6cb0405fc6e6 1426 float timer_value = 123.123;
tnhnrl 62:d502889e74f1 1427
tnhnrl 62:d502889e74f1 1428 sprintf(hex_char_depth, "%08X" , *(unsigned int*)&depth_value);
tnhnrl 62:d502889e74f1 1429 sprintf(hex_char_pitch, "%08X" , *(unsigned int*)&pitch_value);
tnhnrl 62:d502889e74f1 1430 sprintf(hex_char_heading, "%08X" , *(unsigned int*)&heading_value);
tnhnrl 62:d502889e74f1 1431 sprintf(hex_char_timer, "%08X" , *(unsigned int*)&timer_value);
tnhnrl 62:d502889e74f1 1432
tnhnrl 62:d502889e74f1 1433 //store the integer values
tnhnrl 62:d502889e74f1 1434 int hex_to_int[128];
tnhnrl 62:d502889e74f1 1435
tnhnrl 62:d502889e74f1 1436 //read through hex string and break apart into chunks and save the decimal values
tnhnrl 62:d502889e74f1 1437 int hex_counter = 0;
tnhnrl 62:d502889e74f1 1438
tnhnrl 62:d502889e74f1 1439 //////////////////////////
tnhnrl 62:d502889e74f1 1440 string_hex_buffer = hex_char_depth;
tnhnrl 62:d502889e74f1 1441
tnhnrl 62:d502889e74f1 1442 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1443 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1444 string_temp = string_hex_buffer.substr(i,2); // get substring from string (converted from char array)
tnhnrl 62:d502889e74f1 1445
tnhnrl 62:d502889e74f1 1446 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1447 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1448 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1449 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1450
tnhnrl 62:d502889e74f1 1451 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1452 int decimal_value;
tnhnrl 62:d502889e74f1 1453 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1454
tnhnrl 62:d502889e74f1 1455 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1456 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1457
tnhnrl 62:d502889e74f1 1458 //clear the string each time
tnhnrl 62:d502889e74f1 1459 //string_temp = "";
tnhnrl 62:d502889e74f1 1460 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1461 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1462 }
tnhnrl 62:d502889e74f1 1463
tnhnrl 62:d502889e74f1 1464 string_hex_buffer = hex_char_pitch;
tnhnrl 62:d502889e74f1 1465
tnhnrl 62:d502889e74f1 1466 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1467 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1468 string_temp = string_hex_buffer.substr(i,2);
tnhnrl 62:d502889e74f1 1469
tnhnrl 62:d502889e74f1 1470 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1471 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1472 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1473 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1474
tnhnrl 62:d502889e74f1 1475 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1476 int decimal_value;
tnhnrl 62:d502889e74f1 1477 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1478
tnhnrl 62:d502889e74f1 1479 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1480 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1481
tnhnrl 62:d502889e74f1 1482 //clear the string each time
tnhnrl 62:d502889e74f1 1483 //string_temp = "";
tnhnrl 62:d502889e74f1 1484 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1485 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1486 }
tnhnrl 62:d502889e74f1 1487
tnhnrl 62:d502889e74f1 1488 string_hex_buffer = hex_char_heading;
tnhnrl 62:d502889e74f1 1489
tnhnrl 62:d502889e74f1 1490 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1491 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1492 string_temp = string_hex_buffer.substr(i,2);
tnhnrl 62:d502889e74f1 1493
tnhnrl 62:d502889e74f1 1494 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1495 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1496 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1497 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1498
tnhnrl 62:d502889e74f1 1499 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1500 int decimal_value;
tnhnrl 62:d502889e74f1 1501 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1502
tnhnrl 62:d502889e74f1 1503 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1504 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1505
tnhnrl 62:d502889e74f1 1506 //clear the string each time
tnhnrl 62:d502889e74f1 1507 //string_temp = "";
tnhnrl 62:d502889e74f1 1508 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1509 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1510 }
tnhnrl 62:d502889e74f1 1511
tnhnrl 62:d502889e74f1 1512 string_hex_buffer = hex_char_timer;
tnhnrl 62:d502889e74f1 1513
tnhnrl 62:d502889e74f1 1514 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1515 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1516 string_temp = string_hex_buffer.substr(i,2);
tnhnrl 62:d502889e74f1 1517
tnhnrl 62:d502889e74f1 1518 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1519 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1520 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1521 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1522
tnhnrl 62:d502889e74f1 1523 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1524 int decimal_value;
tnhnrl 62:d502889e74f1 1525 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1526
tnhnrl 62:d502889e74f1 1527 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1528 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1529
tnhnrl 62:d502889e74f1 1530 //clear the string each time
tnhnrl 62:d502889e74f1 1531 //string_temp = "";
tnhnrl 62:d502889e74f1 1532 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1533 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1534 }
tnhnrl 62:d502889e74f1 1535 //////////////////////////
tnhnrl 62:d502889e74f1 1536
tnhnrl 62:d502889e74f1 1537 //create new packet based on int array
tnhnrl 62:d502889e74f1 1538 _packet_number = 1; // TEST, FIX THIS
tnhnrl 62:d502889e74f1 1539 _total_number_of_packets = 1;
tnhnrl 62:d502889e74f1 1540 _current_line_length = 16;
tnhnrl 62:d502889e74f1 1541
tnhnrl 62:d502889e74f1 1542 intCreateDataPacket(hex_to_int,16);
tnhnrl 62:d502889e74f1 1543
tnhnrl 62:d502889e74f1 1544
tnhnrl 62:d502889e74f1 1545 transmitDataPacket();
tnhnrl 63:6cb0405fc6e6 1546 }
tnhnrl 63:6cb0405fc6e6 1547
tnhnrl 63:6cb0405fc6e6 1548 int MbedLogger::getLogSize() {
tnhnrl 67:c86a4b464682 1549 return _log_file_line_counter; //number accurate after running getNumberOfPacketsInCurrentLog
tnhnrl 68:8f549749b8ce 1550 }
tnhnrl 68:8f549749b8ce 1551
tnhnrl 68:8f549749b8ce 1552 void MbedLogger::setTransmitPacketNumber(int packet_number) {
tnhnrl 68:8f549749b8ce 1553 _transmit_packet_num = packet_number;
tnhnrl 62:d502889e74f1 1554 }