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@69:919ac8d7e023, 2018-06-29 (annotated)

Committer:
tnhnrl
Date:
Fri Jun 29 14:21:22 2018 +0000
Revision:
69:919ac8d7e023
Parent:
68:8f549749b8ce
Child:
70:0e5180befedd
transmitting data seems to work fine, 10 hz (0.1 sec transmit)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 62:d502889e74f1 1 #include "MbedLogger.hpp"
tnhnrl 62:d502889e74f1 2 #include "StaticDefs.hpp"
tnhnrl 62:d502889e74f1 3
tnhnrl 62:d502889e74f1 4 //Timer t; //used to test time to create packet //timing debug
tnhnrl 62:d502889e74f1 5
tnhnrl 62:d502889e74f1 6 MbedLogger::MbedLogger(string file_system_input_string) {
tnhnrl 62:d502889e74f1 7 _file_system_string = file_system_input_string;
tnhnrl 62:d502889e74f1 8 _full_file_path_string = _file_system_string + "LOG000.csv"; //use multiple logs in the future? (after file size is too large)
tnhnrl 62:d502889e74f1 9 _file_number = 0;
tnhnrl 62:d502889e74f1 10 _file_transmission = true;
tnhnrl 62:d502889e74f1 11 _confirmed_packet_number = 0; //must set this to zero
tnhnrl 62:d502889e74f1 12 _transmit_counter = 0;
tnhnrl 62:d502889e74f1 13 _file_transmission_state = -1;
tnhnrl 62:d502889e74f1 14 _total_number_of_packets = 0;
tnhnrl 62:d502889e74f1 15 _mbed_transmit_loop = false;
tnhnrl 62:d502889e74f1 16 _received_filename = "";
tnhnrl 63:6cb0405fc6e6 17
tnhnrl 63:6cb0405fc6e6 18 _log_file_line_counter = 0; //used to set timer in finite state machine based on size of log
tnhnrl 67:c86a4b464682 19
tnhnrl 68:8f549749b8ce 20 _heading_string = "state_string,state_ID,timer,depth_cmd,depth_ft,pitch_cmd,pitch_deg,bce_cmd,bce_mm,batt_cmd,batt_mm,pitchRate_degs,depthRate_fps,sys_amps,sys_volts,int_press_PSI\n";
tnhnrl 68:8f549749b8ce 21
tnhnrl 68:8f549749b8ce 22 _transmit_packet_num = 0;
tnhnrl 69:919ac8d7e023 23
tnhnrl 69:919ac8d7e023 24 _fsm_transmit_complete = false;
tnhnrl 62:d502889e74f1 25 }
tnhnrl 62:d502889e74f1 26
tnhnrl 62:d502889e74f1 27 //this function has to be called for the time to function correctly
tnhnrl 62:d502889e74f1 28 void MbedLogger::setLogTime() {
tnhnrl 62:d502889e74f1 29 pc().printf("\n%s log time set.\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 30 set_time(1518467832); // Set RTC time to Mon, 12 FEB 2018 15:37
tnhnrl 62:d502889e74f1 31 }
tnhnrl 62:d502889e74f1 32
tnhnrl 62:d502889e74f1 33 //in the future create the ability to set the start time
tnhnrl 62:d502889e74f1 34 int MbedLogger::getSystemTime() {
tnhnrl 62:d502889e74f1 35 time_t seconds = time(NULL); // Time as seconds since January 1, 1970
tnhnrl 62:d502889e74f1 36
tnhnrl 62:d502889e74f1 37 return seconds;
tnhnrl 62:d502889e74f1 38 }
tnhnrl 62:d502889e74f1 39
tnhnrl 62:d502889e74f1 40 void MbedLogger::recordData(int current_state) {
tnhnrl 62:d502889e74f1 41 int data_log_int = mbedLogger().getSystemTime(); //read the system timer to get unix timestamp
tnhnrl 62:d502889e74f1 42 //_data_log[0] = mbedLogger().getSystemTime(); //read the system timer to get unix timestamp
tnhnrl 62:d502889e74f1 43 _data_log[1] = depthLoop().getCommand(); //depth command
tnhnrl 62:d502889e74f1 44 _data_log[2] = depthLoop().getPosition(); //depth reading
tnhnrl 62:d502889e74f1 45 _data_log[3] = pitchLoop().getCommand(); //pitch command
tnhnrl 62:d502889e74f1 46 _data_log[4] = pitchLoop().getPosition(); //pitch reading
tnhnrl 62:d502889e74f1 47 _data_log[5] = bce().getSetPosition_mm(); //BCE command
tnhnrl 62:d502889e74f1 48 _data_log[6] = bce().getPosition_mm(); //BCE reading
tnhnrl 62:d502889e74f1 49 _data_log[7] = batt().getSetPosition_mm(); //Batt command
tnhnrl 62:d502889e74f1 50 _data_log[8] = batt().getPosition_mm(); //Batt reading
tnhnrl 62:d502889e74f1 51 _data_log[9] = pitchLoop().getVelocity(); // pitchRate_degs (degrees per second)
tnhnrl 62:d502889e74f1 52 _data_log[10] = depthLoop().getVelocity(); // depthRate_fps (feet per second)
tnhnrl 62:d502889e74f1 53
tnhnrl 68:8f549749b8ce 54 // extrapolated from graph if V_s = 5.0
tnhnrl 68:8f549749b8ce 55 // https://www.nxp.com/docs/en/data-sheet/MPXA6115A.pdf
tnhnrl 68:8f549749b8ce 56 float press_xducer_PSI = (22.029*(5.0*adc().readCh5()/4095.0) + 10.884) * 0.145038; // Press_Xducer (on-board)
tnhnrl 68:8f549749b8ce 57 float voltage_input = (adc().readCh6()/4095.0) * 5.0 * 7.8; //Vin_Mon on PCB schematic (system input voltage from power supply)
tnhnrl 68:8f549749b8ce 58 float current_input = adc().readCh7()/4095.0; // I_mon (appears to be one-to-one from the schematic)
tnhnrl 67:c86a4b464682 59 // presssure onboard
tnhnrl 67:c86a4b464682 60
tnhnrl 67:c86a4b464682 61
tnhnrl 68:8f549749b8ce 62 _data_log[11] = current_input; // i_in
tnhnrl 67:c86a4b464682 63 _data_log[12] = voltage_input; // v_in
tnhnrl 68:8f549749b8ce 64 _data_log[13] = press_xducer_PSI; // int_press_PSI
tnhnrl 67:c86a4b464682 65
tnhnrl 62:d502889e74f1 66 //check what the current state is and create that string
tnhnrl 62:d502889e74f1 67 string string_state;
tnhnrl 62:d502889e74f1 68 if (current_state == SIT_IDLE)
tnhnrl 62:d502889e74f1 69 string_state = "SIT_IDLE";
tnhnrl 62:d502889e74f1 70 else if (current_state == FIND_NEUTRAL)
tnhnrl 62:d502889e74f1 71 string_state = "FIND_NEUTRAL";
tnhnrl 62:d502889e74f1 72 else if (current_state == DIVE)
tnhnrl 62:d502889e74f1 73 string_state = "DIVE";
tnhnrl 62:d502889e74f1 74 else if (current_state == RISE)
tnhnrl 62:d502889e74f1 75 string_state = "RISE";
tnhnrl 62:d502889e74f1 76 else if (current_state == FLOAT_LEVEL)
tnhnrl 62:d502889e74f1 77 string_state = "FLOAT_LEVEL";
tnhnrl 62:d502889e74f1 78 else if (current_state == FLOAT_BROADCAST)
tnhnrl 62:d502889e74f1 79 string_state = "FLOAT_BROADCAST";
tnhnrl 62:d502889e74f1 80 else if (current_state == EMERGENCY_CLIMB)
tnhnrl 62:d502889e74f1 81 string_state = "EMERGENCY_CLIMB";
tnhnrl 62:d502889e74f1 82 else if (current_state == MULTI_DIVE)
tnhnrl 62:d502889e74f1 83 string_state = "MULTI_DIVE";
tnhnrl 62:d502889e74f1 84 else if (current_state == MULTI_RISE)
tnhnrl 62:d502889e74f1 85 string_state = "MULTI_RISE";
tnhnrl 62:d502889e74f1 86 else if (current_state == KEYBOARD)
tnhnrl 62:d502889e74f1 87 string_state = "KEYBOARD";
tnhnrl 62:d502889e74f1 88 else if (current_state == CHECK_TUNING)
tnhnrl 63:6cb0405fc6e6 89 string_state = "CHECK_TUNING";
tnhnrl 63:6cb0405fc6e6 90 else if (current_state == POSITION_DIVE)
tnhnrl 63:6cb0405fc6e6 91 string_state = "POSITION_DIVE";
tnhnrl 63:6cb0405fc6e6 92 else if (current_state == POSITION_RISE)
tnhnrl 69:919ac8d7e023 93 string_state = "POSITION_RISE";
tnhnrl 69:919ac8d7e023 94 else if (current_state == TRANSMIT_MBED_LOG)
tnhnrl 69:919ac8d7e023 95 string_state = "TRANSMIT_MBED_LOG";
tnhnrl 69:919ac8d7e023 96 else if (current_state == RECEIVE_SEQUENCE)
tnhnrl 69:919ac8d7e023 97 string_state = "RECEIVE_SEQUENCE";
tnhnrl 69:919ac8d7e023 98
tnhnrl 69:919ac8d7e023 99
tnhnrl 67:c86a4b464682 100 string blank_space = ""; //to get consistent spacing in the file
tnhnrl 62:d502889e74f1 101
tnhnrl 62:d502889e74f1 102 //record the string state, integer state, and then the data
tnhnrl 68:8f549749b8ce 103 //_heading_string is 160 characters long
tnhnrl 68:8f549749b8ce 104
tnhnrl 68:8f549749b8ce 105 //make function that checks length of header versus string below, add padding
tnhnrl 68:8f549749b8ce 106
tnhnrl 67:c86a4b464682 107 fprintf(_fp, "%16s,%.2d,",string_state.c_str(),current_state);
tnhnrl 67:c86a4b464682 108 fprintf(_fp, "%11d,",data_log_int); //length 10
tnhnrl 68:8f549749b8ce 109 fprintf(_fp, "%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.3f,%6.2f,%6.1f%38s\n",_data_log[1],
tnhnrl 67:c86a4b464682 110 _data_log[2],_data_log[3],_data_log[4],_data_log[5],_data_log[6],_data_log[7],_data_log[8],_data_log[9],_data_log[10],_data_log[11],_data_log[12],_data_log[13],blank_space.c_str());
tnhnrl 67:c86a4b464682 111
tnhnrl 67:c86a4b464682 112 //each line in the file is 160 characters long text-wise, check this with a file read
tnhnrl 62:d502889e74f1 113 }
tnhnrl 62:d502889e74f1 114
tnhnrl 62:d502889e74f1 115 void MbedLogger::printMbedDirectory() {
tnhnrl 62:d502889e74f1 116 DIR *dir;
tnhnrl 62:d502889e74f1 117 struct dirent *dp; //dirent.h is the format of directory entries
tnhnrl 62:d502889e74f1 118 int log_found =0,loop=0;
tnhnrl 62:d502889e74f1 119 long int temp=0;
tnhnrl 62:d502889e74f1 120
tnhnrl 62:d502889e74f1 121 //char * char_pointer;
tnhnrl 62:d502889e74f1 122 char * numstart;
tnhnrl 62:d502889e74f1 123 //char *numstop;
tnhnrl 62:d502889e74f1 124
tnhnrl 62:d502889e74f1 125 pc().printf("\n\rPrinting out the directory of device %s\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 126
tnhnrl 62:d502889e74f1 127 if ( NULL == (dir = opendir( _file_system_string.c_str() )) ) {
tnhnrl 62:d502889e74f1 128 pc().printf("MBED directory could not be opened\r\n");
tnhnrl 62:d502889e74f1 129 }
tnhnrl 62:d502889e74f1 130 else
tnhnrl 62:d502889e74f1 131 {
tnhnrl 62:d502889e74f1 132 while ( NULL != (dp = readdir( dir )) )
tnhnrl 62:d502889e74f1 133 {
tnhnrl 62:d502889e74f1 134 if(strncmp(dp->d_name,"LOG",3)==0)
tnhnrl 62:d502889e74f1 135 {
tnhnrl 62:d502889e74f1 136 log_found=1;
tnhnrl 62:d502889e74f1 137 /*numstart = dp->d_name; //Look for third character (do safety)
tnhnrl 62:d502889e74f1 138 numstop = strchr(dp->d_name,'.');
tnhnrl 62:d502889e74f1 139 if(numstart!=NULL&&numstop!=NULL)
tnhnrl 62:d502889e74f1 140 {
tnhnrl 62:d502889e74f1 141 temp=numstop-numstart;
tnhnrl 62:d502889e74f1 142 }
tnhnrl 62:d502889e74f1 143 else
tnhnrl 62:d502889e74f1 144 log_found=0; //Something is not right. Ignore
tnhnrl 62:d502889e74f1 145 */
tnhnrl 62:d502889e74f1 146 numstart=dp->d_name+3;
tnhnrl 62:d502889e74f1 147 temp=strtol(numstart,NULL,10); //add in check to see if this is null (start logs at one)
tnhnrl 62:d502889e74f1 148 }
tnhnrl 62:d502889e74f1 149 else
tnhnrl 62:d502889e74f1 150 log_found=0;
tnhnrl 62:d502889e74f1 151 pc().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
tnhnrl 62:d502889e74f1 152
tnhnrl 62:d502889e74f1 153 loop++;
tnhnrl 62:d502889e74f1 154 }
tnhnrl 62:d502889e74f1 155 }
tnhnrl 62:d502889e74f1 156 }
tnhnrl 62:d502889e74f1 157
tnhnrl 68:8f549749b8ce 158 //prints current log file to the screen (terminal)
tnhnrl 62:d502889e74f1 159 void MbedLogger::printCurrentLogFile() {
tnhnrl 62:d502889e74f1 160 //open the file for reading
tnhnrl 62:d502889e74f1 161 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 162
tnhnrl 63:6cb0405fc6e6 163 _log_file_line_counter = 0;
tnhnrl 62:d502889e74f1 164
tnhnrl 62:d502889e74f1 165 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 166
tnhnrl 62:d502889e74f1 167 char buffer[500];
tnhnrl 62:d502889e74f1 168
tnhnrl 62:d502889e74f1 169 //read the file line-by-line and print that to the screen
tnhnrl 62:d502889e74f1 170 pc().printf("\n\rCURRENT MBED LOG FILE /local/Log%03d.csv:\n\n\r",_file_number);
tnhnrl 62:d502889e74f1 171 while (!feof(_fp)) {
tnhnrl 62:d502889e74f1 172 // read in the line and make sure it was successful
tnhnrl 62:d502889e74f1 173 if (fgets(buffer,500,_fp) != NULL) { //stops at new line
tnhnrl 62:d502889e74f1 174 pc().printf("%s\r",buffer);
tnhnrl 63:6cb0405fc6e6 175 _log_file_line_counter++;
tnhnrl 62:d502889e74f1 176 }
tnhnrl 62:d502889e74f1 177 }
tnhnrl 62:d502889e74f1 178
tnhnrl 62:d502889e74f1 179 //fgets stops when either (n-1) characters are read, the newline character is read,
tnhnrl 62:d502889e74f1 180 // or the end-of-file is reached
tnhnrl 62:d502889e74f1 181
tnhnrl 62:d502889e74f1 182 //close the file
tnhnrl 62:d502889e74f1 183 closeLogFile();
tnhnrl 63:6cb0405fc6e6 184 pc().printf("\n\rLog file closed. Lines in log file: %d.\n\r", _log_file_line_counter);
tnhnrl 62:d502889e74f1 185 }
tnhnrl 62:d502889e74f1 186
tnhnrl 62:d502889e74f1 187 void MbedLogger::openFileForTransmit() {
tnhnrl 62:d502889e74f1 188 pc().printf("\n\ropenFileForTransmit\n\r");
tnhnrl 62:d502889e74f1 189 //open the current file to read the contents
tnhnrl 62:d502889e74f1 190 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 191
tnhnrl 62:d502889e74f1 192 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 193
tnhnrl 62:d502889e74f1 194 _file_transmission = true;
tnhnrl 62:d502889e74f1 195 }
tnhnrl 62:d502889e74f1 196
tnhnrl 62:d502889e74f1 197 void MbedLogger::createDataPacket() {
tnhnrl 62:d502889e74f1 198 // packet is 7565 0001 FFFF EEEE CC DATA DATA DATA ... CRC1 CRC2
tnhnrl 62:d502889e74f1 199
tnhnrl 62:d502889e74f1 200 //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
tnhnrl 62:d502889e74f1 201 _data_packet.clear();
tnhnrl 62:d502889e74f1 202
tnhnrl 62:d502889e74f1 203 //DATA PACKET HEADER
tnhnrl 62:d502889e74f1 204 _data_packet.push_back(117); //0x75
tnhnrl 62:d502889e74f1 205 _data_packet.push_back(101); //0x65
tnhnrl 62:d502889e74f1 206
tnhnrl 62:d502889e74f1 207 _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 208 _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 209
tnhnrl 62:d502889e74f1 210 _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 211 _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 212
tnhnrl 62:d502889e74f1 213 _data_packet.push_back(_current_line_length);
tnhnrl 62:d502889e74f1 214
tnhnrl 68:8f549749b8ce 215 //pc().printf("DEBUG: Current line buffer: %s\n\r", _line_buffer); //debug
tnhnrl 62:d502889e74f1 216
tnhnrl 62:d502889e74f1 217 //DATA FROM LINE READ (read string character by chracter)
tnhnrl 62:d502889e74f1 218 for (int i = 0; i < _current_line_length; i++) {
tnhnrl 62:d502889e74f1 219 _data_packet.push_back(_line_buffer[i]);
tnhnrl 62:d502889e74f1 220 }
tnhnrl 62:d502889e74f1 221
tnhnrl 62:d502889e74f1 222 //CRC CALCULATIONS BELOW
tnhnrl 62:d502889e74f1 223 //character version of calculation screws up on null character 0x00, scrapped and using vector of integers
tnhnrl 62:d502889e74f1 224
tnhnrl 62:d502889e74f1 225 int crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 226 int crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 227
tnhnrl 62:d502889e74f1 228 //place the crc bytes into the data packet that is transmitted
tnhnrl 62:d502889e74f1 229 _data_packet.push_back(crc_one);
tnhnrl 62:d502889e74f1 230 _data_packet.push_back(crc_two);
tnhnrl 62:d502889e74f1 231 }
tnhnrl 62:d502889e74f1 232
tnhnrl 69:919ac8d7e023 233 //new 6/27/2018
tnhnrl 69:919ac8d7e023 234 void MbedLogger::createDataPacket(char line_buffer_sent[], int line_length_sent) {
tnhnrl 69:919ac8d7e023 235 // packet is 7565 0001 FFFF EEEE CC DATA DATA DATA ... CRC1 CRC2
tnhnrl 69:919ac8d7e023 236
tnhnrl 69:919ac8d7e023 237 //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
tnhnrl 69:919ac8d7e023 238 _data_packet.clear();
tnhnrl 69:919ac8d7e023 239
tnhnrl 69:919ac8d7e023 240 //DATA PACKET HEADER
tnhnrl 69:919ac8d7e023 241 _data_packet.push_back(117); //0x75
tnhnrl 69:919ac8d7e023 242 _data_packet.push_back(101); //0x65
tnhnrl 69:919ac8d7e023 243
tnhnrl 69:919ac8d7e023 244 _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
tnhnrl 69:919ac8d7e023 245 _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
tnhnrl 69:919ac8d7e023 246
tnhnrl 69:919ac8d7e023 247 _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
tnhnrl 69:919ac8d7e023 248 _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
tnhnrl 69:919ac8d7e023 249
tnhnrl 69:919ac8d7e023 250 _data_packet.push_back(line_length_sent);
tnhnrl 69:919ac8d7e023 251
tnhnrl 69:919ac8d7e023 252 //pc().printf("DEBUG: Current line buffer: %s\n\r", _line_buffer); //debug
tnhnrl 69:919ac8d7e023 253
tnhnrl 69:919ac8d7e023 254 //DATA FROM LINE READ (read string character by chracter)
tnhnrl 69:919ac8d7e023 255 for (int i = 0; i < line_length_sent; i++) {
tnhnrl 69:919ac8d7e023 256 _data_packet.push_back(line_buffer_sent[i]);
tnhnrl 69:919ac8d7e023 257 }
tnhnrl 69:919ac8d7e023 258
tnhnrl 69:919ac8d7e023 259 //CRC CALCULATIONS BELOW
tnhnrl 69:919ac8d7e023 260 //character version of calculation screws up on null character 0x00, scrapped and using vector of integers
tnhnrl 69:919ac8d7e023 261
tnhnrl 69:919ac8d7e023 262 int crc_one = calcCrcOne();
tnhnrl 69:919ac8d7e023 263 int crc_two = calcCrcTwo();
tnhnrl 69:919ac8d7e023 264
tnhnrl 69:919ac8d7e023 265 //place the crc bytes into the data packet that is transmitted
tnhnrl 69:919ac8d7e023 266 _data_packet.push_back(crc_one);
tnhnrl 69:919ac8d7e023 267 _data_packet.push_back(crc_two);
tnhnrl 69:919ac8d7e023 268
tnhnrl 69:919ac8d7e023 269 //pc().printf("debug createDataPacket(char line_buffer_sent[], int line_length_sent)\n\r");
tnhnrl 69:919ac8d7e023 270 }
tnhnrl 69:919ac8d7e023 271
tnhnrl 62:d502889e74f1 272 //should i save it as a string and transmit the string? next iteration maybe
tnhnrl 62:d502889e74f1 273
tnhnrl 62:d502889e74f1 274 void MbedLogger::transmitDataPacket() {
tnhnrl 62:d502889e74f1 275 //WRITE the data (in bytes) to the serial port
tnhnrl 62:d502889e74f1 276 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++) {
tnhnrl 62:d502889e74f1 277 pc().putc(*_it); //send integers over serial port one byte at a time
tnhnrl 62:d502889e74f1 278 }
tnhnrl 62:d502889e74f1 279 }
tnhnrl 62:d502889e74f1 280
tnhnrl 62:d502889e74f1 281 // test to see if transmitDataPacket is working slower than you think.
tnhnrl 62:d502889e74f1 282
tnhnrl 62:d502889e74f1 283 // REACH ONE CHAR AT A TIME (EACH ITERATION OF STATE MACHINE...)
tnhnrl 62:d502889e74f1 284
tnhnrl 68:8f549749b8ce 285
tnhnrl 68:8f549749b8ce 286 void MbedLogger::continuouslyTransmitDataNoTimer() {
tnhnrl 68:8f549749b8ce 287 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 68:8f549749b8ce 288
tnhnrl 68:8f549749b8ce 289 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 68:8f549749b8ce 290
tnhnrl 68:8f549749b8ce 291 static int packet_num = 0;
tnhnrl 68:8f549749b8ce 292
tnhnrl 68:8f549749b8ce 293 while(!feof(_fp)) {
tnhnrl 68:8f549749b8ce 294
tnhnrl 68:8f549749b8ce 295 _packet_number = packet_num;
tnhnrl 68:8f549749b8ce 296
tnhnrl 68:8f549749b8ce 297 //fseek
tnhnrl 68:8f549749b8ce 298
tnhnrl 68:8f549749b8ce 299 readPacketInSeries(); //not using this but for testing purposes...
tnhnrl 68:8f549749b8ce 300
tnhnrl 68:8f549749b8ce 301 // // createDataPacket requires _packet_number, _total_number_of_packets, _current_line_length (data packet size)
tnhnrl 68:8f549749b8ce 302 // // uses char _line_buffer[256] variable to hold characters read from the file
tnhnrl 69:919ac8d7e023 303 // // packs this into a vector for transmission
tnhnrl 69:919ac8d7e023 304
tnhnrl 68:8f549749b8ce 305 createDataPacket();
tnhnrl 68:8f549749b8ce 306
tnhnrl 68:8f549749b8ce 307 transmitDataPacket();
tnhnrl 68:8f549749b8ce 308
tnhnrl 68:8f549749b8ce 309 packet_num++;
tnhnrl 68:8f549749b8ce 310
tnhnrl 68:8f549749b8ce 311 led3() = !led3();
tnhnrl 68:8f549749b8ce 312
tnhnrl 68:8f549749b8ce 313 //check for incoming request
tnhnrl 68:8f549749b8ce 314 }
tnhnrl 68:8f549749b8ce 315
tnhnrl 68:8f549749b8ce 316 closeLogFile(); //close log file if open
tnhnrl 68:8f549749b8ce 317 led4() = !led4();
tnhnrl 68:8f549749b8ce 318 }
tnhnrl 68:8f549749b8ce 319
tnhnrl 68:8f549749b8ce 320 bool MbedLogger::fsmTransmitData() { //using the finite state machine
tnhnrl 69:919ac8d7e023 321 //pc().printf("debug fsmTransmitData (%d) (tpn: %d)\n\r",_fp,_transmit_packet_num);
tnhnrl 68:8f549749b8ce 322
tnhnrl 69:919ac8d7e023 323 if (!feof(_fp) and (!_fsm_transmit_complete)) { //check for end of file
tnhnrl 68:8f549749b8ce 324 wait(0.1);
tnhnrl 68:8f549749b8ce 325
tnhnrl 69:919ac8d7e023 326 //based on the internal packet number of the class
tnhnrl 69:919ac8d7e023 327 //createDataPacket
tnhnrl 69:919ac8d7e023 328 //transmit data packet
tnhnrl 69:919ac8d7e023 329
tnhnrl 69:919ac8d7e023 330 pc().printf("DEBUG:");
tnhnrl 68:8f549749b8ce 331
tnhnrl 69:919ac8d7e023 332 transmitPacketNumber(_packet_number);
tnhnrl 69:919ac8d7e023 333
tnhnrl 69:919ac8d7e023 334 pc().printf("\r"); // for proper spacing
tnhnrl 68:8f549749b8ce 335
tnhnrl 69:919ac8d7e023 336 _packet_number++;
tnhnrl 69:919ac8d7e023 337 led2() = !led2();
tnhnrl 68:8f549749b8ce 338
tnhnrl 68:8f549749b8ce 339 return true;
tnhnrl 68:8f549749b8ce 340 }
tnhnrl 68:8f549749b8ce 341
tnhnrl 69:919ac8d7e023 342 else {
tnhnrl 69:919ac8d7e023 343 //is there a better way to do this?
tnhnrl 69:919ac8d7e023 344 //this flag was required because the additional requests kept generating two packets through the FSM
tnhnrl 69:919ac8d7e023 345 // by calling mbedLogger().fsmTransmitData();
tnhnrl 69:919ac8d7e023 346 //and mbedLogger().checkForPythonTransmitRequest();
tnhnrl 69:919ac8d7e023 347 _fsm_transmit_complete = true;
tnhnrl 69:919ac8d7e023 348
tnhnrl 68:8f549749b8ce 349 return false;
tnhnrl 69:919ac8d7e023 350 }
tnhnrl 68:8f549749b8ce 351 }
tnhnrl 68:8f549749b8ce 352
tnhnrl 68:8f549749b8ce 353 void MbedLogger::continuouslyTransmitData() {
tnhnrl 68:8f549749b8ce 354 static int packet_num = 0;
tnhnrl 68:8f549749b8ce 355
tnhnrl 68:8f549749b8ce 356 while(!feof(_fp)) {
tnhnrl 68:8f549749b8ce 357 wait(0.1);
tnhnrl 68:8f549749b8ce 358
tnhnrl 68:8f549749b8ce 359 _packet_number = packet_num;
tnhnrl 68:8f549749b8ce 360
tnhnrl 68:8f549749b8ce 361 transmitPacketNumber(packet_num);
tnhnrl 68:8f549749b8ce 362
tnhnrl 68:8f549749b8ce 363 //check for incoming transmission
tnhnrl 69:919ac8d7e023 364 //python?
tnhnrl 68:8f549749b8ce 365
tnhnrl 68:8f549749b8ce 366 packet_num++;
tnhnrl 68:8f549749b8ce 367
tnhnrl 68:8f549749b8ce 368 led3() = !led3();
tnhnrl 68:8f549749b8ce 369 }
tnhnrl 68:8f549749b8ce 370 }
tnhnrl 68:8f549749b8ce 371
tnhnrl 68:8f549749b8ce 372 void MbedLogger::transmitPacketNumber(int line_number) {
tnhnrl 68:8f549749b8ce 373 int line_size = 160; //length of lines in the log file, EVERY LINE MUST BE THE SAME LENGTH
tnhnrl 69:919ac8d7e023 374
tnhnrl 68:8f549749b8ce 375 fseek(_fp,(line_size+1)*line_number,SEEK_SET); //fseek must use the +1 to get the newline character
tnhnrl 69:919ac8d7e023 376
tnhnrl 69:919ac8d7e023 377 //write over the internal _line_buffer //start from the beginning and go to this position
tnhnrl 69:919ac8d7e023 378 fread(_line_buffer, 1, line_size, _fp); //read the line that is exactly 160 characters long
tnhnrl 68:8f549749b8ce 379
tnhnrl 69:919ac8d7e023 380 //pc().printf("Debug (transmitPacketNumber): line_buffer <<%s>> (line size: %d)\n\r", line_buffer,line_size);
tnhnrl 68:8f549749b8ce 381
tnhnrl 68:8f549749b8ce 382 // createDataPacket requires _packet_number, _total_number_of_packets, _current_line_length (data packet size)
tnhnrl 68:8f549749b8ce 383 // uses char _line_buffer[256] variable to hold characters read from the file
tnhnrl 68:8f549749b8ce 384 // packs this into a vector for transmission
tnhnrl 68:8f549749b8ce 385
tnhnrl 69:919ac8d7e023 386 createDataPacket(_line_buffer, line_size); //create the data packet from the _line_buffer (char array)
tnhnrl 69:919ac8d7e023 387
tnhnrl 68:8f549749b8ce 388 transmitDataPacket(); //transmit the assembled packet
tnhnrl 68:8f549749b8ce 389 }
tnhnrl 68:8f549749b8ce 390
tnhnrl 69:919ac8d7e023 391
tnhnrl 69:919ac8d7e023 392 //sample packet
tnhnrl 69:919ac8d7e023 393 //1E 1F 00 01 2E F6 //packet 1
tnhnrl 69:919ac8d7e023 394 //1E 1F 00 02 2F B6 //packet 2
tnhnrl 69:919ac8d7e023 395 //receive correct data packet from python, immediately send a transmit packet from the MBED
tnhnrl 69:919ac8d7e023 396 void MbedLogger::checkForPythonTransmitRequest() {
tnhnrl 68:8f549749b8ce 397 static int transmit_state = HEADER_117; //state in switch statement
tnhnrl 68:8f549749b8ce 398 int incoming_byte = -1; //reset each time a character is read
tnhnrl 68:8f549749b8ce 399 int requested_packet_number = -1; //reset each time a character is read
tnhnrl 68:8f549749b8ce 400 static int input_packet[4]; //changed from char in previous iteration 03/28/2018
tnhnrl 68:8f549749b8ce 401 static int transmit_crc_one = 0; //hold crc values until they're reset with calculations
tnhnrl 68:8f549749b8ce 402 static int transmit_crc_two = 0;
tnhnrl 69:919ac8d7e023 403
tnhnrl 68:8f549749b8ce 404 while (pc().readable()) {
tnhnrl 68:8f549749b8ce 405 incoming_byte = pc().getc();
tnhnrl 68:8f549749b8ce 406
tnhnrl 68:8f549749b8ce 407 switch(transmit_state) {
tnhnrl 68:8f549749b8ce 408 case HEADER_117:
tnhnrl 68:8f549749b8ce 409 //continue processing
tnhnrl 68:8f549749b8ce 410 if (incoming_byte == 30){ //1E
tnhnrl 68:8f549749b8ce 411 transmit_state = HEADER_101;
tnhnrl 68:8f549749b8ce 412 }
tnhnrl 68:8f549749b8ce 413 //did not receive byte 1
tnhnrl 68:8f549749b8ce 414 else {
tnhnrl 68:8f549749b8ce 415 transmit_state = HEADER_117; //go back to checking the first packet
tnhnrl 68:8f549749b8ce 416 }
tnhnrl 68:8f549749b8ce 417 break;
tnhnrl 68:8f549749b8ce 418
tnhnrl 68:8f549749b8ce 419 case HEADER_101:
tnhnrl 68:8f549749b8ce 420 if(incoming_byte == 31) { //1F
tnhnrl 68:8f549749b8ce 421 transmit_state = TRANSMIT_PACKET_1;
tnhnrl 68:8f549749b8ce 422 }
tnhnrl 68:8f549749b8ce 423 break;
tnhnrl 68:8f549749b8ce 424
tnhnrl 68:8f549749b8ce 425 case TRANSMIT_PACKET_1:
tnhnrl 68:8f549749b8ce 426 if (incoming_byte >= 0) {
tnhnrl 68:8f549749b8ce 427 input_packet[0] = 30;
tnhnrl 68:8f549749b8ce 428 input_packet[1] = 31;
tnhnrl 68:8f549749b8ce 429 input_packet[2] = incoming_byte;
tnhnrl 68:8f549749b8ce 430
tnhnrl 68:8f549749b8ce 431 transmit_state = TRANSMIT_PACKET_2;
tnhnrl 68:8f549749b8ce 432 //_reply_byte3 = incoming_byte;
tnhnrl 68:8f549749b8ce 433 }
tnhnrl 68:8f549749b8ce 434 break;
tnhnrl 68:8f549749b8ce 435
tnhnrl 68:8f549749b8ce 436 case TRANSMIT_PACKET_2:
tnhnrl 68:8f549749b8ce 437
tnhnrl 68:8f549749b8ce 438 if (incoming_byte >= 0) {
tnhnrl 68:8f549749b8ce 439 input_packet[3] = incoming_byte;
tnhnrl 68:8f549749b8ce 440 //_reply_byte4 = incoming_byte;
tnhnrl 68:8f549749b8ce 441 }
tnhnrl 68:8f549749b8ce 442 transmit_state = PACKET_CRC_ONE;
tnhnrl 68:8f549749b8ce 443
tnhnrl 68:8f549749b8ce 444 break;
tnhnrl 68:8f549749b8ce 445
tnhnrl 68:8f549749b8ce 446 case (PACKET_CRC_ONE):
tnhnrl 68:8f549749b8ce 447 transmit_crc_one = calcCrcOneArray(input_packet, 4); //calc CRC 1 from the input packet (size 4)
tnhnrl 68:8f549749b8ce 448
tnhnrl 68:8f549749b8ce 449 if (incoming_byte == transmit_crc_one) {
tnhnrl 68:8f549749b8ce 450 transmit_state = PACKET_CRC_TWO;
tnhnrl 68:8f549749b8ce 451 }
tnhnrl 68:8f549749b8ce 452
tnhnrl 68:8f549749b8ce 453 else
tnhnrl 68:8f549749b8ce 454 transmit_state = HEADER_117;
tnhnrl 68:8f549749b8ce 455 //or state remains the same?
tnhnrl 68:8f549749b8ce 456
tnhnrl 68:8f549749b8ce 457 break;
tnhnrl 68:8f549749b8ce 458
tnhnrl 68:8f549749b8ce 459 case (PACKET_CRC_TWO):
tnhnrl 68:8f549749b8ce 460 transmit_state = HEADER_117;
tnhnrl 68:8f549749b8ce 461 transmit_crc_two = calcCrcTwoArray(input_packet, 4); //calc CRC 2 from the input packet (size 4)
tnhnrl 68:8f549749b8ce 462
tnhnrl 68:8f549749b8ce 463 //check if CRC TWO is correct (then send full packet)
tnhnrl 68:8f549749b8ce 464 if (incoming_byte == transmit_crc_two) {
tnhnrl 68:8f549749b8ce 465 requested_packet_number = input_packet[2] * 256 + input_packet[3]; //compute the numbers 0 through 65535 with the two bytes
tnhnrl 68:8f549749b8ce 466
tnhnrl 69:919ac8d7e023 467 //receive correct checksum, immediately send this packet
tnhnrl 69:919ac8d7e023 468 transmitPacketNumber(requested_packet_number);
tnhnrl 68:8f549749b8ce 469
tnhnrl 69:919ac8d7e023 470 //fseek(_fp, 0, SEEK_END); //reset _fp (this was causing errors with the other function)
tnhnrl 69:919ac8d7e023 471 led3() = !led3();
tnhnrl 68:8f549749b8ce 472
tnhnrl 68:8f549749b8ce 473 } //end of checksum (incoming_byte) if statement
tnhnrl 68:8f549749b8ce 474
tnhnrl 68:8f549749b8ce 475 break;
tnhnrl 68:8f549749b8ce 476 } //switch statement complete
tnhnrl 69:919ac8d7e023 477 } //while statement complete
tnhnrl 68:8f549749b8ce 478 }
tnhnrl 68:8f549749b8ce 479
tnhnrl 63:6cb0405fc6e6 480 void MbedLogger::readTransmitPacketOneChar() {
tnhnrl 62:d502889e74f1 481 static int transmit_state = HEADER_117; //state in switch statement
tnhnrl 62:d502889e74f1 482 int incoming_byte = -1; //reset each time a character is read
tnhnrl 62:d502889e74f1 483 int requested_packet_number = -1; //reset each time a character is read
tnhnrl 62:d502889e74f1 484 static int input_packet[4]; //changed from char in previous iteration 03/28/2018
tnhnrl 62:d502889e74f1 485 static int transmit_crc_one = 0; //hold crc values until they're reset with calculations
tnhnrl 62:d502889e74f1 486 static int transmit_crc_two = 0;
tnhnrl 62:d502889e74f1 487
tnhnrl 62:d502889e74f1 488
tnhnrl 63:6cb0405fc6e6 489 while (pc().readable()) {
tnhnrl 63:6cb0405fc6e6 490 incoming_byte = pc().getc();
tnhnrl 63:6cb0405fc6e6 491
tnhnrl 63:6cb0405fc6e6 492 led3() = !led3();
tnhnrl 62:d502889e74f1 493
tnhnrl 63:6cb0405fc6e6 494 switch(transmit_state) {
tnhnrl 63:6cb0405fc6e6 495 case HEADER_117:
tnhnrl 63:6cb0405fc6e6 496 //continue processing
tnhnrl 63:6cb0405fc6e6 497 if (incoming_byte == 30){ //1E
tnhnrl 63:6cb0405fc6e6 498 transmit_state = HEADER_101;
tnhnrl 63:6cb0405fc6e6 499 }
tnhnrl 63:6cb0405fc6e6 500 //did not receive byte 1
tnhnrl 63:6cb0405fc6e6 501 else {
tnhnrl 63:6cb0405fc6e6 502 transmit_state = HEADER_117; //go back to checking the first packet
tnhnrl 63:6cb0405fc6e6 503 }
tnhnrl 63:6cb0405fc6e6 504 break;
tnhnrl 63:6cb0405fc6e6 505
tnhnrl 63:6cb0405fc6e6 506 case HEADER_101:
tnhnrl 63:6cb0405fc6e6 507 if(incoming_byte == 31) { //1F
tnhnrl 63:6cb0405fc6e6 508 transmit_state = TRANSMIT_PACKET_1;
tnhnrl 63:6cb0405fc6e6 509 }
tnhnrl 63:6cb0405fc6e6 510 break;
tnhnrl 62:d502889e74f1 511
tnhnrl 63:6cb0405fc6e6 512 case TRANSMIT_PACKET_1:
tnhnrl 63:6cb0405fc6e6 513 if (incoming_byte >= 0) {
tnhnrl 63:6cb0405fc6e6 514 input_packet[0] = 30;
tnhnrl 63:6cb0405fc6e6 515 input_packet[1] = 31;
tnhnrl 63:6cb0405fc6e6 516 input_packet[2] = incoming_byte;
tnhnrl 63:6cb0405fc6e6 517
tnhnrl 63:6cb0405fc6e6 518 transmit_state = TRANSMIT_PACKET_2;
tnhnrl 63:6cb0405fc6e6 519 //_reply_byte3 = incoming_byte;
tnhnrl 63:6cb0405fc6e6 520 }
tnhnrl 63:6cb0405fc6e6 521 break;
tnhnrl 63:6cb0405fc6e6 522
tnhnrl 63:6cb0405fc6e6 523 case TRANSMIT_PACKET_2:
tnhnrl 62:d502889e74f1 524
tnhnrl 63:6cb0405fc6e6 525 if (incoming_byte >= 0) {
tnhnrl 63:6cb0405fc6e6 526 input_packet[3] = incoming_byte;
tnhnrl 63:6cb0405fc6e6 527 //_reply_byte4 = incoming_byte;
tnhnrl 63:6cb0405fc6e6 528 }
tnhnrl 63:6cb0405fc6e6 529 transmit_state = PACKET_CRC_ONE;
tnhnrl 62:d502889e74f1 530
tnhnrl 63:6cb0405fc6e6 531 break;
tnhnrl 62:d502889e74f1 532
tnhnrl 63:6cb0405fc6e6 533 case (PACKET_CRC_ONE):
tnhnrl 63:6cb0405fc6e6 534 transmit_crc_one = calcCrcOneArray(input_packet, 4); //calc CRC 1 from the input packet (size 4)
tnhnrl 63:6cb0405fc6e6 535
tnhnrl 63:6cb0405fc6e6 536 if (incoming_byte == transmit_crc_one) {
tnhnrl 63:6cb0405fc6e6 537 transmit_state = PACKET_CRC_TWO;
tnhnrl 62:d502889e74f1 538 }
tnhnrl 62:d502889e74f1 539
tnhnrl 62:d502889e74f1 540 else
tnhnrl 63:6cb0405fc6e6 541 transmit_state = HEADER_117;
tnhnrl 63:6cb0405fc6e6 542 //or state remains the same?
tnhnrl 62:d502889e74f1 543
tnhnrl 63:6cb0405fc6e6 544 break;
tnhnrl 62:d502889e74f1 545
tnhnrl 63:6cb0405fc6e6 546 case (PACKET_CRC_TWO):
tnhnrl 63:6cb0405fc6e6 547 transmit_state = HEADER_117;
tnhnrl 63:6cb0405fc6e6 548 transmit_crc_two = calcCrcTwoArray(input_packet, 4); //calc CRC 2 from the input packet (size 4)
tnhnrl 63:6cb0405fc6e6 549
tnhnrl 63:6cb0405fc6e6 550 //check if CRC TWO is correct (then send full packet)
tnhnrl 63:6cb0405fc6e6 551 if (incoming_byte == transmit_crc_two) {
tnhnrl 63:6cb0405fc6e6 552 requested_packet_number = input_packet[2] * 256 + input_packet[3]; //compute the numbers 0 through 65535 with the two bytes
tnhnrl 63:6cb0405fc6e6 553
tnhnrl 63:6cb0405fc6e6 554 if (requested_packet_number != _previous_reply_byte) { //CHANGE THE NAME TO SOMETHING NOT BYTE!
tnhnrl 63:6cb0405fc6e6 555 //MUST SET THE PACKET NUMBER
tnhnrl 63:6cb0405fc6e6 556 _packet_number = requested_packet_number;
tnhnrl 63:6cb0405fc6e6 557
tnhnrl 63:6cb0405fc6e6 558 // DO NOT READ IF THE CURRENT REQUEST IS PAST THE TOTAL # OF PACKETS (lines of the file)
tnhnrl 63:6cb0405fc6e6 559 if (_packet_number <= _total_number_of_packets) {
tnhnrl 63:6cb0405fc6e6 560 readPacketInSeries();
tnhnrl 63:6cb0405fc6e6 561 createDataPacket();
tnhnrl 63:6cb0405fc6e6 562 }
tnhnrl 63:6cb0405fc6e6 563
tnhnrl 63:6cb0405fc6e6 564 _previous_reply_byte = requested_packet_number; //RECORD THIS BYTE to prevent new packets being created
tnhnrl 63:6cb0405fc6e6 565
tnhnrl 63:6cb0405fc6e6 566 transmitDataPacket(); //continuously transmit current packet until it tells you to do the next packet (response from Python program)
tnhnrl 63:6cb0405fc6e6 567 }
tnhnrl 63:6cb0405fc6e6 568
tnhnrl 63:6cb0405fc6e6 569 else
tnhnrl 63:6cb0405fc6e6 570 transmitDataPacket(); //if you get the same packet request, send the same packet
tnhnrl 63:6cb0405fc6e6 571
tnhnrl 63:6cb0405fc6e6 572 } //end of checksum (incoming_byte) if statement
tnhnrl 63:6cb0405fc6e6 573
tnhnrl 63:6cb0405fc6e6 574 break;
tnhnrl 63:6cb0405fc6e6 575 } //switch statement complete
tnhnrl 63:6cb0405fc6e6 576 } //while statement complete
tnhnrl 62:d502889e74f1 577 }
tnhnrl 62:d502889e74f1 578
tnhnrl 62:d502889e74f1 579 int MbedLogger::readTransmitPacket() {
tnhnrl 62:d502889e74f1 580 _file_transmission = true;
tnhnrl 62:d502889e74f1 581 _file_transmission_state = 0;
tnhnrl 62:d502889e74f1 582
tnhnrl 62:d502889e74f1 583 //first check if you're receiving data, then read four bytes
tnhnrl 62:d502889e74f1 584
tnhnrl 62:d502889e74f1 585 int transmit_state = 0; //for state machine
tnhnrl 62:d502889e74f1 586
tnhnrl 62:d502889e74f1 587 int incoming_byte = -1;
tnhnrl 62:d502889e74f1 588
tnhnrl 62:d502889e74f1 589 int requested_packet_number = -1;
tnhnrl 62:d502889e74f1 590
tnhnrl 62:d502889e74f1 591 static int inside_while_loop = 1;
tnhnrl 62:d502889e74f1 592
tnhnrl 62:d502889e74f1 593 while (inside_while_loop) {
tnhnrl 62:d502889e74f1 594 if (pc().readable()) { //don't rely on pc readable being open all the time
tnhnrl 62:d502889e74f1 595
tnhnrl 62:d502889e74f1 596 incoming_byte = pc().getc();
tnhnrl 62:d502889e74f1 597
tnhnrl 62:d502889e74f1 598 switch(transmit_state) {
tnhnrl 62:d502889e74f1 599
tnhnrl 62:d502889e74f1 600 case (HEADER_117):
tnhnrl 62:d502889e74f1 601 //continue processing
tnhnrl 62:d502889e74f1 602 if (incoming_byte == 117){
tnhnrl 62:d502889e74f1 603 transmit_state = HEADER_101;
tnhnrl 62:d502889e74f1 604 }
tnhnrl 62:d502889e74f1 605 //end transmission
tnhnrl 62:d502889e74f1 606 else if (incoming_byte == 16) {
tnhnrl 62:d502889e74f1 607 transmit_state = END_TRANSMISSION;
tnhnrl 62:d502889e74f1 608 }
tnhnrl 62:d502889e74f1 609 else {
tnhnrl 62:d502889e74f1 610 transmit_state = HEADER_117;
tnhnrl 62:d502889e74f1 611 }
tnhnrl 62:d502889e74f1 612 break;
tnhnrl 62:d502889e74f1 613
tnhnrl 62:d502889e74f1 614 case (HEADER_101):
tnhnrl 62:d502889e74f1 615 if(incoming_byte == 101) {
tnhnrl 62:d502889e74f1 616 transmit_state = TRANSMIT_PACKET_1;
tnhnrl 62:d502889e74f1 617 }
tnhnrl 62:d502889e74f1 618 break;
tnhnrl 62:d502889e74f1 619
tnhnrl 62:d502889e74f1 620 case (TRANSMIT_PACKET_1):
tnhnrl 62:d502889e74f1 621 if (incoming_byte >= 0) {
tnhnrl 62:d502889e74f1 622 transmit_state = TRANSMIT_PACKET_2;
tnhnrl 62:d502889e74f1 623 _reply_byte3 = incoming_byte;
tnhnrl 62:d502889e74f1 624 }
tnhnrl 62:d502889e74f1 625 break;
tnhnrl 62:d502889e74f1 626
tnhnrl 62:d502889e74f1 627 case (TRANSMIT_PACKET_2):
tnhnrl 62:d502889e74f1 628 if (incoming_byte >= 0) {
tnhnrl 62:d502889e74f1 629 _reply_byte4 = incoming_byte;
tnhnrl 62:d502889e74f1 630 }
tnhnrl 62:d502889e74f1 631
tnhnrl 62:d502889e74f1 632 requested_packet_number = _reply_byte3 * 256 + _reply_byte4; //compute the numbers 0 through 65535 with the two bytes
tnhnrl 62:d502889e74f1 633
tnhnrl 62:d502889e74f1 634 if (requested_packet_number != _previous_reply_byte) { //CHANGE THE NAME TO SOMETHING NOT BYTE!
tnhnrl 62:d502889e74f1 635 //MUST SET THE PACKET NUMBER
tnhnrl 62:d502889e74f1 636 _packet_number = requested_packet_number;
tnhnrl 62:d502889e74f1 637
tnhnrl 62:d502889e74f1 638 readPacketInSeries();
tnhnrl 62:d502889e74f1 639 createDataPacket();
tnhnrl 62:d502889e74f1 640 _previous_reply_byte = requested_packet_number; //RECORD THIS BYTE to prevent new packets being created
tnhnrl 62:d502889e74f1 641 }
tnhnrl 62:d502889e74f1 642
tnhnrl 62:d502889e74f1 643 //continuously transmit current packet until it tells you to do the next packet (response from Python program)
tnhnrl 62:d502889e74f1 644 transmitDataPacket();
tnhnrl 62:d502889e74f1 645
tnhnrl 62:d502889e74f1 646 //TRANSMIT_PACKET_2
tnhnrl 62:d502889e74f1 647 inside_while_loop = 0; //exit the while loop with this
tnhnrl 62:d502889e74f1 648 pc().printf("(TRANSMIT_PACKET_2)reached inside_while_loop = 0\n\r"); //DEBUG
tnhnrl 62:d502889e74f1 649 break;
tnhnrl 62:d502889e74f1 650 } //end of switch statement
tnhnrl 62:d502889e74f1 651 } //end of while loop
tnhnrl 62:d502889e74f1 652
tnhnrl 62:d502889e74f1 653 // else {
tnhnrl 62:d502889e74f1 654 // //pc().printf("pc not readable \n\r");
tnhnrl 62:d502889e74f1 655 // }
tnhnrl 62:d502889e74f1 656 //
tnhnrl 62:d502889e74f1 657 }
tnhnrl 62:d502889e74f1 658
tnhnrl 62:d502889e74f1 659 //once you're outside of the while loop
tnhnrl 62:d502889e74f1 660 inside_while_loop = true; //for next iteration
tnhnrl 62:d502889e74f1 661
tnhnrl 62:d502889e74f1 662 pc().printf("DEBUG: (readTransmitPacket) Outside of while loop\n\r");
tnhnrl 62:d502889e74f1 663 return false;
tnhnrl 62:d502889e74f1 664 }
tnhnrl 62:d502889e74f1 665
tnhnrl 62:d502889e74f1 666 void MbedLogger::reOpenLineReader() {
tnhnrl 62:d502889e74f1 667 //open a new one
tnhnrl 62:d502889e74f1 668 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 669
tnhnrl 62:d502889e74f1 670 _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
tnhnrl 62:d502889e74f1 671
tnhnrl 62:d502889e74f1 672 //check if this actually worked...
tnhnrl 62:d502889e74f1 673 if (!_fp) {
tnhnrl 62:d502889e74f1 674 pc().printf("ERROR: Log file could not be opened\n\r");
tnhnrl 62:d502889e74f1 675 }
tnhnrl 62:d502889e74f1 676 else {
tnhnrl 62:d502889e74f1 677 pc().printf("Current Log file (LOG000.csv) was opened.\n\r");
tnhnrl 62:d502889e74f1 678 }
tnhnrl 62:d502889e74f1 679 }
tnhnrl 62:d502889e74f1 680
tnhnrl 62:d502889e74f1 681 bool MbedLogger::openLineReader() {
tnhnrl 62:d502889e74f1 682 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 683
tnhnrl 62:d502889e74f1 684 _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
tnhnrl 62:d502889e74f1 685
tnhnrl 62:d502889e74f1 686 //check if this actually worked...
tnhnrl 62:d502889e74f1 687 if (!_fp) {
tnhnrl 62:d502889e74f1 688 //pc().printf("ERROR: Log file could not be opened\n\r");
tnhnrl 62:d502889e74f1 689 return false;
tnhnrl 62:d502889e74f1 690 }
tnhnrl 62:d502889e74f1 691 else {
tnhnrl 62:d502889e74f1 692 //pc().printf("Current Log file (LOG000.csv) was opened.\n\r");
tnhnrl 62:d502889e74f1 693 return true;
tnhnrl 62:d502889e74f1 694 }
tnhnrl 62:d502889e74f1 695 }
tnhnrl 62:d502889e74f1 696
tnhnrl 62:d502889e74f1 697 //VERIFIED THIS IS WORKING
tnhnrl 62:d502889e74f1 698 void MbedLogger::readPacketInSeries(){
tnhnrl 62:d502889e74f1 699 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 700
tnhnrl 62:d502889e74f1 701 //read the current line in the file
tnhnrl 62:d502889e74f1 702 fgets(_line_buffer, 256, _fp); //reads the line of characters until you reach a newline character
tnhnrl 62:d502889e74f1 703
tnhnrl 62:d502889e74f1 704 //RECORD THE STRING LENGTH
tnhnrl 62:d502889e74f1 705 _current_line_length = strlen(_line_buffer);
tnhnrl 62:d502889e74f1 706 }
tnhnrl 62:d502889e74f1 707
tnhnrl 69:919ac8d7e023 708 int MbedLogger::getNumberOfPacketsInCurrentLog() {
tnhnrl 62:d502889e74f1 709 _packet_number = 0;
tnhnrl 62:d502889e74f1 710
tnhnrl 62:d502889e74f1 711 int ch;
tnhnrl 62:d502889e74f1 712
tnhnrl 62:d502889e74f1 713 _total_number_of_packets = 0; //clear this each time you read the file
tnhnrl 62:d502889e74f1 714
tnhnrl 62:d502889e74f1 715 //if this is null, use the default, else use the new file
tnhnrl 62:d502889e74f1 716
tnhnrl 62:d502889e74f1 717 if (_fp == NULL) {
tnhnrl 62:d502889e74f1 718 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 719
tnhnrl 62:d502889e74f1 720 _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
tnhnrl 62:d502889e74f1 721 }
tnhnrl 62:d502889e74f1 722 else { //else, use the file that is already open...
tnhnrl 62:d502889e74f1 723 fseek(_fp, 0, SEEK_SET); // SEEK_SET is the beginning of file
tnhnrl 62:d502889e74f1 724 }
tnhnrl 62:d502889e74f1 725
tnhnrl 67:c86a4b464682 726 //counts the number of newline characters to generate the packet size
tnhnrl 62:d502889e74f1 727 while (EOF != (ch=getc(_fp))) {
tnhnrl 62:d502889e74f1 728 if ('\n' == ch)
tnhnrl 62:d502889e74f1 729 _total_number_of_packets++; // records the number of new lines to determine how many packets to send
tnhnrl 62:d502889e74f1 730 }
tnhnrl 62:d502889e74f1 731
tnhnrl 62:d502889e74f1 732 //move the FILE pointer back to the start
tnhnrl 62:d502889e74f1 733 fseek(_fp, 0, SEEK_SET); // SEEK_SET is the beginning of file
tnhnrl 62:d502889e74f1 734
tnhnrl 62:d502889e74f1 735 _file_transmission = true; //preparing to transmit files from MBED to Python
tnhnrl 68:8f549749b8ce 736
tnhnrl 69:919ac8d7e023 737 //pc().printf("debug: _total_number_of_packets: %d\n\r",_total_number_of_packets);
tnhnrl 69:919ac8d7e023 738
tnhnrl 69:919ac8d7e023 739 return _total_number_of_packets;
tnhnrl 62:d502889e74f1 740 }
tnhnrl 62:d502889e74f1 741
tnhnrl 62:d502889e74f1 742 void MbedLogger::endTransmissionCloseFile() {
tnhnrl 62:d502889e74f1 743 // if the file pointer is null, the file was not opened in the first place
tnhnrl 62:d502889e74f1 744 if (!_fp) {
tnhnrl 62:d502889e74f1 745 pc().printf("\n endTransmissionCloseFile: FILE WAS NOT OPENED!\n\r");
tnhnrl 62:d502889e74f1 746 }
tnhnrl 62:d502889e74f1 747 else {
tnhnrl 62:d502889e74f1 748 pc().printf("\n endTransmissionCloseFile: FILE FOUND AND CLOSED!\n\r");
tnhnrl 62:d502889e74f1 749 closeLogFile();
tnhnrl 62:d502889e74f1 750 }
tnhnrl 62:d502889e74f1 751
tnhnrl 62:d502889e74f1 752 _file_transmission = false;
tnhnrl 62:d502889e74f1 753 }
tnhnrl 62:d502889e74f1 754
tnhnrl 62:d502889e74f1 755 void MbedLogger::openWriteFile() {
tnhnrl 62:d502889e74f1 756 pc().printf("Opening file for reception.\n\r");
tnhnrl 62:d502889e74f1 757
tnhnrl 62:d502889e74f1 758 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 759
tnhnrl 62:d502889e74f1 760 _fp = fopen(file_name_string.c_str(), "w");
tnhnrl 62:d502889e74f1 761 }
tnhnrl 62:d502889e74f1 762
tnhnrl 62:d502889e74f1 763
tnhnrl 62:d502889e74f1 764 //weird bug noticed on 5/25/2018 where if you're not sending data the function is not completing
tnhnrl 62:d502889e74f1 765
tnhnrl 62:d502889e74f1 766
tnhnrl 62:d502889e74f1 767
tnhnrl 62:d502889e74f1 768
tnhnrl 62:d502889e74f1 769 // function checks for incoming data (receiver function) from a Python program that transmits a file
tnhnrl 62:d502889e74f1 770 // current limit is a file that has 255 lines of data
tnhnrl 68:8f549749b8ce 771 bool MbedLogger::checkForIncomingData() {
tnhnrl 62:d502889e74f1 772 int receive_packet_number;
tnhnrl 62:d502889e74f1 773 int receive_total_number_packets;
tnhnrl 62:d502889e74f1 774 int receive_packet_size;
tnhnrl 62:d502889e74f1 775
tnhnrl 62:d502889e74f1 776 bool data_transmission_complete = false;
tnhnrl 62:d502889e74f1 777
tnhnrl 62:d502889e74f1 778 int incoming_byte;
tnhnrl 62:d502889e74f1 779
tnhnrl 62:d502889e74f1 780 char char_buffer[256] = {}; //create empty buffer
tnhnrl 62:d502889e74f1 781
tnhnrl 62:d502889e74f1 782 //starting state
tnhnrl 62:d502889e74f1 783 int process_state = HEADER_117;
tnhnrl 62:d502889e74f1 784
tnhnrl 62:d502889e74f1 785 //variables for processing data below
tnhnrl 62:d502889e74f1 786 int checksum_one = -1;
tnhnrl 62:d502889e74f1 787 int checksum_two = -1;
tnhnrl 62:d502889e74f1 788
tnhnrl 62:d502889e74f1 789 int i = 5;
tnhnrl 62:d502889e74f1 790 int serial_timeout = 0;
tnhnrl 62:d502889e74f1 791
tnhnrl 62:d502889e74f1 792 while (pc().readable() && !data_transmission_complete) {
tnhnrl 62:d502889e74f1 793 incoming_byte = pc().getc(); //getc returns an unsigned char cast to an int
tnhnrl 62:d502889e74f1 794 //pc().printf("DEBUG: State 0\n\r");
tnhnrl 62:d502889e74f1 795
tnhnrl 62:d502889e74f1 796 switch(process_state) {
tnhnrl 62:d502889e74f1 797 case HEADER_117:
tnhnrl 62:d502889e74f1 798 //continue processing
tnhnrl 62:d502889e74f1 799 if (incoming_byte == 117){
tnhnrl 62:d502889e74f1 800 process_state = HEADER_101;
tnhnrl 62:d502889e74f1 801 //pc().printf("DEBUG: Case 117\n\r");
tnhnrl 62:d502889e74f1 802 }
tnhnrl 62:d502889e74f1 803 //end transmission
tnhnrl 62:d502889e74f1 804 else if (incoming_byte == 16) {
tnhnrl 62:d502889e74f1 805 process_state = END_TRANSMISSION;
tnhnrl 62:d502889e74f1 806 pc().printf("DEBUG: State 16 (END_TRANSMISSION)\n\r");
tnhnrl 62:d502889e74f1 807 }
tnhnrl 62:d502889e74f1 808 else {
tnhnrl 62:d502889e74f1 809 process_state = HEADER_117; // ???
tnhnrl 62:d502889e74f1 810 //pc().printf("DEBUG: State Header 117\n\r");
tnhnrl 62:d502889e74f1 811 }
tnhnrl 62:d502889e74f1 812 break;
tnhnrl 62:d502889e74f1 813
tnhnrl 62:d502889e74f1 814 case HEADER_101:
tnhnrl 62:d502889e74f1 815 if(incoming_byte == 101) {
tnhnrl 62:d502889e74f1 816 process_state = PACKET_NUM;
tnhnrl 62:d502889e74f1 817 //pc().printf("DEBUG: Case 101\n\r");
tnhnrl 62:d502889e74f1 818 }
tnhnrl 62:d502889e74f1 819 break;
tnhnrl 62:d502889e74f1 820
tnhnrl 62:d502889e74f1 821 case PACKET_NUM:
tnhnrl 62:d502889e74f1 822 receive_packet_number = incoming_byte;
tnhnrl 62:d502889e74f1 823 process_state = TOTAL_NUM_PACKETS;
tnhnrl 62:d502889e74f1 824 //pc().printf("DEBUG: Case PACKET_NUM\n\r");
tnhnrl 62:d502889e74f1 825 break;
tnhnrl 62:d502889e74f1 826
tnhnrl 62:d502889e74f1 827 case TOTAL_NUM_PACKETS:
tnhnrl 62:d502889e74f1 828 receive_total_number_packets = incoming_byte;
tnhnrl 62:d502889e74f1 829 process_state = PACKET_SIZE;
tnhnrl 62:d502889e74f1 830 //pc().printf("DEBUG: Case TOTAL_NUM_PACKETS\n\r");
tnhnrl 62:d502889e74f1 831 break;
tnhnrl 62:d502889e74f1 832
tnhnrl 62:d502889e74f1 833 case PACKET_SIZE:
tnhnrl 62:d502889e74f1 834 receive_packet_size = incoming_byte;
tnhnrl 62:d502889e74f1 835 //pc().printf("DEBUG: Case PACKET_SIZE\n\r");
tnhnrl 62:d502889e74f1 836
tnhnrl 62:d502889e74f1 837 //write the header stuff to it
tnhnrl 62:d502889e74f1 838 char_buffer[0] = 117;
tnhnrl 62:d502889e74f1 839 char_buffer[1] = 101;
tnhnrl 62:d502889e74f1 840 char_buffer[2] = receive_packet_number;
tnhnrl 62:d502889e74f1 841 char_buffer[3] = receive_total_number_packets;
tnhnrl 62:d502889e74f1 842 char_buffer[4] = receive_packet_size;
tnhnrl 62:d502889e74f1 843
tnhnrl 62:d502889e74f1 844 // tests confirmed that packet number is zero, number of packets is 12, packet size is 12
tnhnrl 62:d502889e74f1 845 //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 846
tnhnrl 62:d502889e74f1 847 //process packet data, future version will append for larger data sizes, 0xFFFF
tnhnrl 62:d502889e74f1 848
tnhnrl 62:d502889e74f1 849 // IF YOU GET AN INTERRUPTED DATA STREAM YOU NEED TO BREAK OUT OF THE LOOP
tnhnrl 62:d502889e74f1 850 i = 5;
tnhnrl 62:d502889e74f1 851 serial_timeout = 0;
tnhnrl 62:d502889e74f1 852
tnhnrl 62:d502889e74f1 853 while (true) {
tnhnrl 62:d502889e74f1 854 if (pc().readable()) {
tnhnrl 62:d502889e74f1 855 char_buffer[i] = pc().getc(); //read all of the data packets
tnhnrl 62:d502889e74f1 856 i++;
tnhnrl 62:d502889e74f1 857
tnhnrl 62:d502889e74f1 858 serial_timeout = 0; //reset the timeout
tnhnrl 62:d502889e74f1 859 }
tnhnrl 62:d502889e74f1 860 else {
tnhnrl 62:d502889e74f1 861 serial_timeout++;
tnhnrl 62:d502889e74f1 862 }
tnhnrl 62:d502889e74f1 863
tnhnrl 62:d502889e74f1 864 // When full data packet is received...
tnhnrl 62:d502889e74f1 865 if (i >= receive_packet_size+5) { //cannot do this properly with a for loop
tnhnrl 62:d502889e74f1 866 //get checksum bytes
tnhnrl 62:d502889e74f1 867 checksum_one = pc().getc();
tnhnrl 62:d502889e74f1 868 checksum_two = pc().getc();
tnhnrl 62:d502889e74f1 869
tnhnrl 62:d502889e74f1 870 //calculate the CRC from the header and data bytes using _data_packet (vector)
tnhnrl 62:d502889e74f1 871 //found out calculating crc with string was dropping empty or null spaces
tnhnrl 62:d502889e74f1 872 _data_packet.clear(); //clear it just in case
tnhnrl 62:d502889e74f1 873
tnhnrl 62:d502889e74f1 874 for (int a = 0; a < receive_packet_size+5; a++) {
tnhnrl 62:d502889e74f1 875 _data_packet.push_back(char_buffer[a]); //push the character array into the buffer
tnhnrl 62:d502889e74f1 876 }
tnhnrl 62:d502889e74f1 877
tnhnrl 62:d502889e74f1 878 //calculate the CRC using the vector (strings will cut off null characters)
tnhnrl 62:d502889e74f1 879 int calc_crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 880 int calc_crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 881
tnhnrl 62:d502889e74f1 882 //pc().printf("DEBUG: calc crc 1: %d, crc 2: %d\n\r", calc_crc_one, calc_crc_two);
tnhnrl 62:d502889e74f1 883
tnhnrl 62:d502889e74f1 884 // first confirm that the checksum is correct
tnhnrl 62:d502889e74f1 885 if ((calc_crc_one == checksum_one) and (calc_crc_two == checksum_two)) {
tnhnrl 62:d502889e74f1 886 // CHECKSUM CORRECT & get the filename from the first packet (check that you receive first packet)
tnhnrl 62:d502889e74f1 887 if (receive_packet_number == 0) {
tnhnrl 62:d502889e74f1 888 char temp_char[receive_packet_size+1]; //temp array for memcpy
tnhnrl 62:d502889e74f1 889 memset(&temp_char[0], 0, sizeof(temp_char)); //clear full array (or get random characters)
tnhnrl 62:d502889e74f1 890 strncpy(temp_char, char_buffer + 5 /* Offset */, receive_packet_size*sizeof(char) /* Length */); //memcpy introduced random characters
tnhnrl 62:d502889e74f1 891
tnhnrl 62:d502889e74f1 892 //have to terminate the string with '\0'
tnhnrl 62:d502889e74f1 893 temp_char[receive_packet_size] = '\0';
tnhnrl 62:d502889e74f1 894
tnhnrl 62:d502889e74f1 895 //pc().printf("\n\rDEBUG: ------ Filename? <<%s>>\n\r", temp_char);
tnhnrl 62:d502889e74f1 896 _received_filename = temp_char;
tnhnrl 62:d502889e74f1 897
tnhnrl 62:d502889e74f1 898 //pc().printf("\n\rDEBUG: _received_filename <<%s>>\n\r", _received_filename);
tnhnrl 62:d502889e74f1 899
tnhnrl 62:d502889e74f1 900 //open a file for writing
tnhnrl 62:d502889e74f1 901 openReceiveFile(_received_filename);
tnhnrl 62:d502889e74f1 902
tnhnrl 62:d502889e74f1 903 //send a reply to Python transmit program
tnhnrl 62:d502889e74f1 904 sendReply();
tnhnrl 62:d502889e74f1 905
tnhnrl 62:d502889e74f1 906 led3() = 1;
tnhnrl 62:d502889e74f1 907
tnhnrl 62:d502889e74f1 908 // even if correct CRC, counter prevents the program from writing the same packet twice
tnhnrl 62:d502889e74f1 909 _confirmed_packet_number++;
tnhnrl 62:d502889e74f1 910 }
tnhnrl 62:d502889e74f1 911
tnhnrl 62:d502889e74f1 912 // check if the packet that you're receiving (receive_packet_number) has been received already...
tnhnrl 62:d502889e74f1 913
tnhnrl 62:d502889e74f1 914 //CHECKSUM CORRECT & packet numbers that are 1 through N packets
tnhnrl 62:d502889e74f1 915 else if (receive_packet_number == _confirmed_packet_number){
tnhnrl 62:d502889e74f1 916 //save the data (char buffer) to the file if both checksums work...
tnhnrl 62:d502889e74f1 917
tnhnrl 62:d502889e74f1 918 // when a packet is received (successfully) send a reply
tnhnrl 62:d502889e74f1 919 sendReply();
tnhnrl 62:d502889e74f1 920
tnhnrl 62:d502889e74f1 921 // write correct data to file
tnhnrl 62:d502889e74f1 922 fprintf(_fp, "%s", char_buffer+5);
tnhnrl 62:d502889e74f1 923
tnhnrl 62:d502889e74f1 924 // even if correct CRC, counter prevents the program from writing the same packet twice
tnhnrl 62:d502889e74f1 925 _confirmed_packet_number++;
tnhnrl 62:d502889e74f1 926 }
tnhnrl 62:d502889e74f1 927
tnhnrl 62:d502889e74f1 928 //clear the variables
tnhnrl 62:d502889e74f1 929 checksum_one = -1;
tnhnrl 62:d502889e74f1 930 checksum_two = -1;
tnhnrl 62:d502889e74f1 931 }
tnhnrl 62:d502889e74f1 932
tnhnrl 62:d502889e74f1 933 process_state = HEADER_117;
tnhnrl 62:d502889e74f1 934
tnhnrl 62:d502889e74f1 935 break;
tnhnrl 62:d502889e74f1 936 }
tnhnrl 62:d502889e74f1 937
tnhnrl 62:d502889e74f1 938 //counter breaks out of the loop if no data received
tnhnrl 62:d502889e74f1 939 if (serial_timeout >= 10000) {
tnhnrl 62:d502889e74f1 940 //pc().printf("break serial_timeout %d\n\r", serial_timeout);
tnhnrl 62:d502889e74f1 941 break;
tnhnrl 62:d502889e74f1 942 }
tnhnrl 62:d502889e74f1 943 }
tnhnrl 62:d502889e74f1 944 break;
tnhnrl 62:d502889e74f1 945
tnhnrl 62:d502889e74f1 946 case END_TRANSMISSION:
tnhnrl 62:d502889e74f1 947 if (pc().getc() == 16) {
tnhnrl 62:d502889e74f1 948 pc().printf("DEBUG: END_TRANSMISSION REACHED: 1. \n\r");
tnhnrl 62:d502889e74f1 949
tnhnrl 62:d502889e74f1 950 if (pc().getc() == 16) {
tnhnrl 62:d502889e74f1 951 pc().printf("DEBUG: END_TRANSMISSION REACHED: 2. \n\r");
tnhnrl 62:d502889e74f1 952
tnhnrl 62:d502889e74f1 953 endReceiveData();
tnhnrl 62:d502889e74f1 954 }
tnhnrl 62:d502889e74f1 955 }
tnhnrl 62:d502889e74f1 956
tnhnrl 62:d502889e74f1 957 pc().printf("DEBUG: END_TRANSMISSION REACHED: 5. \n\r");
tnhnrl 62:d502889e74f1 958
tnhnrl 62:d502889e74f1 959 //process_state = HEADER_117; //don't do this unless the check is wrong
tnhnrl 62:d502889e74f1 960 pc().printf("END_TRANSMISSION process_state is %d\n\r", process_state); //should be 5 (debug) 02/06/2018
tnhnrl 62:d502889e74f1 961 data_transmission_complete = true;
tnhnrl 62:d502889e74f1 962 break;
tnhnrl 62:d502889e74f1 963 }//END OF SWITCH
tnhnrl 62:d502889e74f1 964
tnhnrl 62:d502889e74f1 965 if (data_transmission_complete) {
tnhnrl 62:d502889e74f1 966 pc().printf("DEBUG: checkForIncomingData data_transmission_complete \n\r");
tnhnrl 62:d502889e74f1 967 break; //out of while loop
tnhnrl 62:d502889e74f1 968 }
tnhnrl 62:d502889e74f1 969 } // while loop
tnhnrl 62:d502889e74f1 970
tnhnrl 62:d502889e74f1 971 led3() = !led3();
tnhnrl 62:d502889e74f1 972
tnhnrl 62:d502889e74f1 973 if (data_transmission_complete)
tnhnrl 62:d502889e74f1 974 return false; //tell state machine class that this is done (not transmitting, false)
tnhnrl 62:d502889e74f1 975 else {
tnhnrl 62:d502889e74f1 976 return true;
tnhnrl 62:d502889e74f1 977 }
tnhnrl 62:d502889e74f1 978 }
tnhnrl 62:d502889e74f1 979
tnhnrl 62:d502889e74f1 980 int MbedLogger::sendReply() {
tnhnrl 62:d502889e74f1 981 //being explicit in what's being transmitted
tnhnrl 62:d502889e74f1 982
tnhnrl 62:d502889e74f1 983 //change this method to be more explicit later
tnhnrl 62:d502889e74f1 984
tnhnrl 62:d502889e74f1 985 //integer vector _data_packet is used here, cleared fist just in case
tnhnrl 62:d502889e74f1 986
tnhnrl 62:d502889e74f1 987 _data_packet.clear(); //same data packet for transmission
tnhnrl 62:d502889e74f1 988 _data_packet.push_back(117);
tnhnrl 62:d502889e74f1 989 _data_packet.push_back(101);
tnhnrl 62:d502889e74f1 990
tnhnrl 62:d502889e74f1 991 //_confirmed_packet_number comes from the packet number that is sent from the Python program
tnhnrl 62:d502889e74f1 992 _data_packet.push_back(_confirmed_packet_number / 256); //packet number only changed when confirmed
tnhnrl 62:d502889e74f1 993 _data_packet.push_back(_confirmed_packet_number % 256); //split into first and second byte
tnhnrl 62:d502889e74f1 994
tnhnrl 62:d502889e74f1 995 //compute checksums
tnhnrl 62:d502889e74f1 996
tnhnrl 62:d502889e74f1 997 int receiver_crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 998 int receiver_crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 999
tnhnrl 62:d502889e74f1 1000 _data_packet.push_back(receiver_crc_one);
tnhnrl 62:d502889e74f1 1001 _data_packet.push_back(receiver_crc_two);
tnhnrl 62:d502889e74f1 1002
tnhnrl 62:d502889e74f1 1003 //transmit this packet
tnhnrl 62:d502889e74f1 1004 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++) {
tnhnrl 62:d502889e74f1 1005 pc().putc(*_it); //send integers over serial port one byte at a time
tnhnrl 62:d502889e74f1 1006 }
tnhnrl 62:d502889e74f1 1007
tnhnrl 62:d502889e74f1 1008 //change process methodology later...
tnhnrl 62:d502889e74f1 1009
tnhnrl 62:d502889e74f1 1010 return _confirmed_packet_number;
tnhnrl 62:d502889e74f1 1011 }
tnhnrl 62:d502889e74f1 1012
tnhnrl 62:d502889e74f1 1013 void MbedLogger::endReceiveData() { //DLE character * 4 ==> 10 10 10 10
tnhnrl 62:d502889e74f1 1014 closeLogFile(); //close the file here
tnhnrl 62:d502889e74f1 1015 pc().printf("endReceiveData closed the file and ended transmission\n\r");
tnhnrl 62:d502889e74f1 1016 }
tnhnrl 62:d502889e74f1 1017
tnhnrl 62:d502889e74f1 1018 //calculate the crc with an integer array
tnhnrl 62:d502889e74f1 1019 int MbedLogger::calcCrcOneArray(int *input_array, int array_length) {
tnhnrl 62:d502889e74f1 1020 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 1021 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 1022 int crc = 0;
tnhnrl 62:d502889e74f1 1023 for (int z = 0; z < array_length; z++) {
tnhnrl 62:d502889e74f1 1024 crc = (crc_table[(input_array[z] ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1025 }
tnhnrl 62:d502889e74f1 1026 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1027 }
tnhnrl 62:d502889e74f1 1028
tnhnrl 62:d502889e74f1 1029 int MbedLogger::calcCrcTwoArray(int *input_array, int array_length) {
tnhnrl 62:d502889e74f1 1030 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 1031 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 1032 int crc = 0;
tnhnrl 62:d502889e74f1 1033 for (int z = 0; z < array_length; z++) {
tnhnrl 62:d502889e74f1 1034 crc = (crc_table[(input_array[z] ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1035 }
tnhnrl 62:d502889e74f1 1036 return crc % 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1037 }
tnhnrl 62:d502889e74f1 1038
tnhnrl 62:d502889e74f1 1039 int MbedLogger::calcCrcOne() {
tnhnrl 62:d502889e74f1 1040 //can't initialize the table in the constructor in c++
tnhnrl 62:d502889e74f1 1041 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 1042
tnhnrl 62:d502889e74f1 1043 int crc = 0;
tnhnrl 62:d502889e74f1 1044 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++)
tnhnrl 62:d502889e74f1 1045 crc = (crc_table[(*_it ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1046
tnhnrl 62:d502889e74f1 1047 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1048 }
tnhnrl 62:d502889e74f1 1049
tnhnrl 62:d502889e74f1 1050 int MbedLogger::calcCrcTwo() {
tnhnrl 62:d502889e74f1 1051 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 1052
tnhnrl 62:d502889e74f1 1053 int crc = 0;
tnhnrl 62:d502889e74f1 1054 for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++)
tnhnrl 62:d502889e74f1 1055 crc = (crc_table[(*_it ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1056
tnhnrl 62:d502889e74f1 1057 //pc().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_array.length(), crc % 256);
tnhnrl 62:d502889e74f1 1058
tnhnrl 62:d502889e74f1 1059 return crc % 256; //last byte
tnhnrl 62:d502889e74f1 1060 }
tnhnrl 62:d502889e74f1 1061
tnhnrl 62:d502889e74f1 1062 void MbedLogger::resetReplyPacket() {
tnhnrl 62:d502889e74f1 1063 _confirmed_packet_number = 0;
tnhnrl 62:d502889e74f1 1064 }
tnhnrl 62:d502889e74f1 1065
tnhnrl 62:d502889e74f1 1066 void MbedLogger::openNewMissionFile() {
tnhnrl 62:d502889e74f1 1067 pc().printf("Opening Mission file (sequence.txt) for reception.\n\r");
tnhnrl 62:d502889e74f1 1068 string filename_string = _file_system_string + "sequence.txt";
tnhnrl 62:d502889e74f1 1069
tnhnrl 62:d502889e74f1 1070 pc().printf("openNewMissionFile: %s\n\r", filename_string.c_str());
tnhnrl 62:d502889e74f1 1071
tnhnrl 62:d502889e74f1 1072 _fp = fopen(filename_string.c_str(), "w");
tnhnrl 62:d502889e74f1 1073 }
tnhnrl 62:d502889e74f1 1074
tnhnrl 62:d502889e74f1 1075 void MbedLogger::openReceiveFile(string filename) {
tnhnrl 62:d502889e74f1 1076 string filename_string = _file_system_string + filename; //example "sequence.txt"
tnhnrl 62:d502889e74f1 1077
tnhnrl 62:d502889e74f1 1078 _fp = fopen(filename_string.c_str(), "w"); //open a file for writing
tnhnrl 62:d502889e74f1 1079 }
tnhnrl 62:d502889e74f1 1080
tnhnrl 62:d502889e74f1 1081 void MbedLogger::setDataCounter(int input_counter) {
tnhnrl 62:d502889e74f1 1082 _transmit_counter = input_counter;
tnhnrl 62:d502889e74f1 1083 }
tnhnrl 62:d502889e74f1 1084
tnhnrl 62:d502889e74f1 1085 void MbedLogger::closeIncompleteFile() {
tnhnrl 62:d502889e74f1 1086 fprintf(_fp, "TRANSMISSION INTERRUPTED!"); //write this warning to the file
tnhnrl 62:d502889e74f1 1087 closeLogFile(); //close file
tnhnrl 62:d502889e74f1 1088 }
tnhnrl 62:d502889e74f1 1089
tnhnrl 62:d502889e74f1 1090 void MbedLogger::appendLogFile(int current_state, int option) {
tnhnrl 62:d502889e74f1 1091 //option one means write to file
tnhnrl 62:d502889e74f1 1092
tnhnrl 62:d502889e74f1 1093 if (option == 1) {
tnhnrl 62:d502889e74f1 1094 if (!_fp) { //if not present
tnhnrl 62:d502889e74f1 1095 _fp = fopen(_full_file_path_string.c_str(), "a");
tnhnrl 62:d502889e74f1 1096 }
tnhnrl 62:d502889e74f1 1097
tnhnrl 62:d502889e74f1 1098 //record data using the recordData function (takes in the state integer)
tnhnrl 62:d502889e74f1 1099 recordData(current_state);
tnhnrl 62:d502889e74f1 1100 }
tnhnrl 62:d502889e74f1 1101
tnhnrl 62:d502889e74f1 1102 else {
tnhnrl 62:d502889e74f1 1103 closeLogFile();
tnhnrl 62:d502889e74f1 1104 }
tnhnrl 62:d502889e74f1 1105 }
tnhnrl 62:d502889e74f1 1106
tnhnrl 62:d502889e74f1 1107 // initialize and close the file
tnhnrl 62:d502889e74f1 1108 // log file freezes at 0x0000006c
tnhnrl 62:d502889e74f1 1109 void MbedLogger::initializeLogFile() {
tnhnrl 62:d502889e74f1 1110 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 62:d502889e74f1 1111 pc().printf("%s file system init\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 1112
tnhnrl 62:d502889e74f1 1113 //try to open this file...
tnhnrl 62:d502889e74f1 1114 _fp = fopen(file_name_string.c_str(), "r");
tnhnrl 62:d502889e74f1 1115
tnhnrl 62:d502889e74f1 1116 //if the file is empty, create this.
tnhnrl 62:d502889e74f1 1117 if (!_fp) {
tnhnrl 62:d502889e74f1 1118 _fp = fopen(file_name_string.c_str(), "w"); //write,print,close
tnhnrl 67:c86a4b464682 1119 //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 1120 fprintf(_fp,_heading_string.c_str());
tnhnrl 62:d502889e74f1 1121 closeLogFile();
tnhnrl 62:d502889e74f1 1122 }
tnhnrl 62:d502889e74f1 1123 else
tnhnrl 62:d502889e74f1 1124 closeLogFile(); //close the opened read file
tnhnrl 62:d502889e74f1 1125 }
tnhnrl 62:d502889e74f1 1126
tnhnrl 62:d502889e74f1 1127 int MbedLogger::fileTransmitState() {
tnhnrl 62:d502889e74f1 1128 return _file_transmission_state;
tnhnrl 62:d502889e74f1 1129 }
tnhnrl 62:d502889e74f1 1130
tnhnrl 62:d502889e74f1 1131 int MbedLogger::calcCrcOneString (string input_string) {
tnhnrl 62:d502889e74f1 1132 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 1133
tnhnrl 62:d502889e74f1 1134 int crc = 0;
tnhnrl 62:d502889e74f1 1135 for (unsigned int i = 0; i < input_string.length(); i++) {
tnhnrl 62:d502889e74f1 1136 //convert each character to an integer
tnhnrl 62:d502889e74f1 1137 int character_to_integer = input_string[i]; //correct
tnhnrl 62:d502889e74f1 1138
tnhnrl 62:d502889e74f1 1139 crc = (crc_table[(character_to_integer ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1140 }
tnhnrl 62:d502889e74f1 1141
tnhnrl 62:d502889e74f1 1142 //pc().printf("DEBUG: calcCrcOne string length: %d crc: %d\n\r", input_string.length(), crc/256);
tnhnrl 62:d502889e74f1 1143
tnhnrl 62:d502889e74f1 1144 return crc / 256; //second-to-last byte
tnhnrl 62:d502889e74f1 1145 }
tnhnrl 62:d502889e74f1 1146
tnhnrl 62:d502889e74f1 1147 int MbedLogger::calcCrcTwoString (string input_string) {
tnhnrl 62:d502889e74f1 1148 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 1149
tnhnrl 62:d502889e74f1 1150 int crc = 0;
tnhnrl 62:d502889e74f1 1151 for (unsigned int i = 0; i < input_string.length(); i++) {
tnhnrl 62:d502889e74f1 1152 //convert each character to an integer
tnhnrl 62:d502889e74f1 1153 int character_to_integer = input_string[i]; //correct
tnhnrl 62:d502889e74f1 1154
tnhnrl 62:d502889e74f1 1155 crc = (crc_table[(character_to_integer ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
tnhnrl 62:d502889e74f1 1156 }
tnhnrl 62:d502889e74f1 1157
tnhnrl 62:d502889e74f1 1158 //pc().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_string.length(), crc % 256);
tnhnrl 62:d502889e74f1 1159
tnhnrl 62:d502889e74f1 1160 return crc % 256; //last byte
tnhnrl 62:d502889e74f1 1161 }
tnhnrl 62:d502889e74f1 1162
tnhnrl 62:d502889e74f1 1163 void MbedLogger::createEmptyLog() {
tnhnrl 62:d502889e74f1 1164 string file_name_string = _file_system_string + "LOG000.csv";
tnhnrl 67:c86a4b464682 1165 string empty_log = "EMPTY LOG";
tnhnrl 62:d502889e74f1 1166
tnhnrl 62:d502889e74f1 1167 _fp = fopen(file_name_string.c_str(), "w");
tnhnrl 67:c86a4b464682 1168
tnhnrl 67:c86a4b464682 1169 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 1170 closeLogFile();
tnhnrl 62:d502889e74f1 1171 }
tnhnrl 62:d502889e74f1 1172
tnhnrl 62:d502889e74f1 1173 int MbedLogger::getFileSize(string filename) {
tnhnrl 62:d502889e74f1 1174 // fixed the const char * errror:
tnhnrl 62:d502889e74f1 1175 // https://stackoverflow.com/questions/347949/how-to-convert-a-stdstring-to-const-char-or-char
tnhnrl 62:d502889e74f1 1176 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 1177 //http://www.cplusplus.com/reference/string/string/c_str/
tnhnrl 62:d502889e74f1 1178
tnhnrl 62:d502889e74f1 1179 _fp = fopen(filename.c_str(), "rb"); //open the file for reading as a binary file
tnhnrl 62:d502889e74f1 1180
tnhnrl 62:d502889e74f1 1181 fseek(_fp, 0, SEEK_END); //SEEK_END is a constant in cstdio (end of the file)
tnhnrl 62:d502889e74f1 1182 unsigned int file_size = ftell(_fp); //For binary streams, this is the number of bytes from the beginning of the file.
tnhnrl 62:d502889e74f1 1183 fseek(_fp, 0, SEEK_SET); //SEEK_SET is hte beginning of the file, not sure this is necessary
tnhnrl 62:d502889e74f1 1184
tnhnrl 62:d502889e74f1 1185 closeLogFile(); //can probably just close the file pointer and not worry about position
tnhnrl 62:d502889e74f1 1186
tnhnrl 62:d502889e74f1 1187 pc().printf("%s file size is %d\n\r", filename.c_str(), file_size);
tnhnrl 62:d502889e74f1 1188
tnhnrl 62:d502889e74f1 1189 return file_size;
tnhnrl 62:d502889e74f1 1190 }
tnhnrl 62:d502889e74f1 1191
tnhnrl 62:d502889e74f1 1192 int MbedLogger::debugFileState() {
tnhnrl 62:d502889e74f1 1193 pc().printf("What is _fp right now? %p\n\r", _fp); //pointer notation
tnhnrl 62:d502889e74f1 1194
tnhnrl 62:d502889e74f1 1195 if (_fp)
tnhnrl 62:d502889e74f1 1196 return 1; //file pointer does exist
tnhnrl 62:d502889e74f1 1197 else
tnhnrl 62:d502889e74f1 1198 return 0; //file pointer does not exist
tnhnrl 62:d502889e74f1 1199 }
tnhnrl 62:d502889e74f1 1200
tnhnrl 62:d502889e74f1 1201 void MbedLogger::specifyFileForTransmit(string input_string) {
tnhnrl 62:d502889e74f1 1202 pc().printf("specifyFileForTransmit\n\r");
tnhnrl 62:d502889e74f1 1203
tnhnrl 62:d502889e74f1 1204 string file_string = _file_system_string + input_string;
tnhnrl 62:d502889e74f1 1205
tnhnrl 62:d502889e74f1 1206 pc().printf("file_string is <%s>\n\r", file_string.c_str());
tnhnrl 62:d502889e74f1 1207
tnhnrl 62:d502889e74f1 1208 //open this file to read
tnhnrl 62:d502889e74f1 1209 _fp = fopen(file_string.c_str(), "r");
tnhnrl 62:d502889e74f1 1210
tnhnrl 62:d502889e74f1 1211 //transmit that file
tnhnrl 62:d502889e74f1 1212 //transmitDataWithTicker(); //replaced ticker
tnhnrl 62:d502889e74f1 1213
tnhnrl 62:d502889e74f1 1214 _file_transmission = true;
tnhnrl 62:d502889e74f1 1215 }
tnhnrl 62:d502889e74f1 1216
tnhnrl 62:d502889e74f1 1217 void MbedLogger::transmitFileFromDirectory( int file_number ) {
tnhnrl 62:d502889e74f1 1218 file_number = file_number + 1; //to get the correct number
tnhnrl 62:d502889e74f1 1219
tnhnrl 62:d502889e74f1 1220 DIR *dir;
tnhnrl 62:d502889e74f1 1221 struct dirent *dp; //dirent.h is the format of directory entries
tnhnrl 62:d502889e74f1 1222 int log_found =0, loop=1; //start file numbers at 1
tnhnrl 62:d502889e74f1 1223 long int temp=0;
tnhnrl 62:d502889e74f1 1224
tnhnrl 62:d502889e74f1 1225 // char * char_pointer;
tnhnrl 62:d502889e74f1 1226 // char * numstart, *numstop;
tnhnrl 62:d502889e74f1 1227
tnhnrl 62:d502889e74f1 1228 if ( NULL == (dir = opendir( _file_system_string.c_str() )) ) {
tnhnrl 62:d502889e74f1 1229 pc().printf("MBED directory could not be opened\r\n");
tnhnrl 62:d502889e74f1 1230 }
tnhnrl 62:d502889e74f1 1231 else
tnhnrl 62:d502889e74f1 1232 {
tnhnrl 62:d502889e74f1 1233 while ( NULL != (dp = readdir( dir )) )
tnhnrl 62:d502889e74f1 1234 {
tnhnrl 62:d502889e74f1 1235 pc().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
tnhnrl 62:d502889e74f1 1236
tnhnrl 62:d502889e74f1 1237 //process current file if it matches the file number
tnhnrl 62:d502889e74f1 1238 if (file_number == loop) {
tnhnrl 62:d502889e74f1 1239 char * current_file_name = dp->d_name; //pointer to this char array
tnhnrl 62:d502889e74f1 1240
tnhnrl 62:d502889e74f1 1241 specifyFileForTransmit(current_file_name);
tnhnrl 62:d502889e74f1 1242
tnhnrl 62:d502889e74f1 1243 break;
tnhnrl 62:d502889e74f1 1244 }
tnhnrl 62:d502889e74f1 1245
tnhnrl 62:d502889e74f1 1246 loop++;
tnhnrl 62:d502889e74f1 1247 }
tnhnrl 62:d502889e74f1 1248 }
tnhnrl 62:d502889e74f1 1249 }
tnhnrl 62:d502889e74f1 1250
tnhnrl 62:d502889e74f1 1251 void MbedLogger::accessMbedDirectory() {
tnhnrl 62:d502889e74f1 1252 printMbedDirectory();
tnhnrl 62:d502889e74f1 1253
tnhnrl 62:d502889e74f1 1254 pc().printf("Type in the number of the file you want to transmit.\n\r");
tnhnrl 62:d502889e74f1 1255
tnhnrl 62:d502889e74f1 1256 char message[42];
tnhnrl 62:d502889e74f1 1257
tnhnrl 62:d502889e74f1 1258 pc().scanf("%41s", message);
tnhnrl 62:d502889e74f1 1259
tnhnrl 62:d502889e74f1 1260 pc().printf("Input received!\n\r");
tnhnrl 62:d502889e74f1 1261
tnhnrl 62:d502889e74f1 1262 //check if char array is an integer
tnhnrl 62:d502889e74f1 1263 char* conversion_pointer;
tnhnrl 62:d502889e74f1 1264 long converted = strtol(message, &conversion_pointer, 10);
tnhnrl 62:d502889e74f1 1265
tnhnrl 62:d502889e74f1 1266 if (*conversion_pointer) {
tnhnrl 62:d502889e74f1 1267 //conversion failed because the input was not a number
tnhnrl 62:d502889e74f1 1268 pc().printf("NOT A VALID FILE NUMBER!\n\r");
tnhnrl 62:d502889e74f1 1269 }
tnhnrl 62:d502889e74f1 1270 else {
tnhnrl 62:d502889e74f1 1271 //conversion worked!
tnhnrl 62:d502889e74f1 1272 pc().printf("You chose file number: %d\n\r", converted);
tnhnrl 62:d502889e74f1 1273
tnhnrl 62:d502889e74f1 1274 // transmit the file
tnhnrl 62:d502889e74f1 1275 transmitFileFromDirectory(converted);
tnhnrl 62:d502889e74f1 1276 }
tnhnrl 62:d502889e74f1 1277 }
tnhnrl 62:d502889e74f1 1278
tnhnrl 62:d502889e74f1 1279 void MbedLogger::closeLogFile() {
tnhnrl 68:8f549749b8ce 1280 led4() = 1;
tnhnrl 68:8f549749b8ce 1281
tnhnrl 62:d502889e74f1 1282 if (_fp == NULL){
tnhnrl 62:d502889e74f1 1283 pc().printf("MbedLogger: (%s) LOG FILE WAS ALREADY CLOSED!\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 1284 }
tnhnrl 62:d502889e74f1 1285
tnhnrl 62:d502889e74f1 1286 else {
tnhnrl 62:d502889e74f1 1287 pc().printf("MbedLogger: (%s) CLOSING LOG FILE!\n\r", _file_system_string.c_str());
tnhnrl 62:d502889e74f1 1288
tnhnrl 62:d502889e74f1 1289 //close file
tnhnrl 62:d502889e74f1 1290 fclose(_fp);
tnhnrl 62:d502889e74f1 1291
tnhnrl 62:d502889e74f1 1292 _fp = NULL; //set pointer to zero
tnhnrl 62:d502889e74f1 1293 }
tnhnrl 62:d502889e74f1 1294 }
tnhnrl 62:d502889e74f1 1295
tnhnrl 62:d502889e74f1 1296 void MbedLogger::activateReceivePacket() {
tnhnrl 62:d502889e74f1 1297 _mbed_receive_loop = true;
tnhnrl 62:d502889e74f1 1298 }
tnhnrl 62:d502889e74f1 1299
tnhnrl 62:d502889e74f1 1300 void MbedLogger::receiveMissionDataWithFSM() {
tnhnrl 62:d502889e74f1 1301 checkForIncomingData();
tnhnrl 62:d502889e74f1 1302
tnhnrl 62:d502889e74f1 1303 // Example: send reply 75 65 00 00
tnhnrl 62:d502889e74f1 1304 // Example: send reply 75 65 00 01
tnhnrl 62:d502889e74f1 1305 }
tnhnrl 62:d502889e74f1 1306
tnhnrl 62:d502889e74f1 1307 void MbedLogger::receiveMissionDataWithTicker() {
tnhnrl 62:d502889e74f1 1308 openNewMissionFile(); //sequence.txt file opened
tnhnrl 62:d502889e74f1 1309
tnhnrl 62:d502889e74f1 1310 _mbed_receive_ticker.attach(callback(this, &MbedLogger::activateReceivePacket), 0.5);
tnhnrl 62:d502889e74f1 1311
tnhnrl 62:d502889e74f1 1312 pc().printf("\n\r02/09/2018 MbedLogger receiveMissionData Beginning to receive sequence data...\n\r");
tnhnrl 62:d502889e74f1 1313
tnhnrl 62:d502889e74f1 1314 resetReplyPacket(); //reset the reply packet
tnhnrl 62:d502889e74f1 1315
tnhnrl 62:d502889e74f1 1316 //idea for stopping this if data not being received
tnhnrl 62:d502889e74f1 1317 int current_packet_number = 0;
tnhnrl 62:d502889e74f1 1318 int last_packet_number = -1;
tnhnrl 62:d502889e74f1 1319 int break_transmission = 0;
tnhnrl 62:d502889e74f1 1320
tnhnrl 62:d502889e74f1 1321 while(1) {
tnhnrl 62:d502889e74f1 1322 //runs at 10 hz
tnhnrl 62:d502889e74f1 1323 if (_mbed_receive_loop) {
tnhnrl 62:d502889e74f1 1324 if (!checkForIncomingData()) { // run this until it finishes
tnhnrl 62:d502889e74f1 1325 //when you complete data reception, this will become false
tnhnrl 62:d502889e74f1 1326 pc().printf("\n\rMbedLogger: Data RECEPTION complete.\n\r");
tnhnrl 62:d502889e74f1 1327 _mbed_receive_ticker.detach();
tnhnrl 62:d502889e74f1 1328 break;
tnhnrl 62:d502889e74f1 1329 }
tnhnrl 62:d502889e74f1 1330 else {
tnhnrl 62:d502889e74f1 1331
tnhnrl 62:d502889e74f1 1332 // SEND REPLY 75 65 00 00
tnhnrl 62:d502889e74f1 1333 // SEND REPLY 75 65 00 01
tnhnrl 62:d502889e74f1 1334
tnhnrl 62:d502889e74f1 1335 //check if you keep getting the same thing
tnhnrl 62:d502889e74f1 1336 current_packet_number = sendReply();
tnhnrl 62:d502889e74f1 1337
tnhnrl 62:d502889e74f1 1338 //pc().printf("DEBUG: current packet number %d (last packet number %d) \n\r", current_packet_number, last_packet_number); //debug
tnhnrl 62:d502889e74f1 1339
tnhnrl 62:d502889e74f1 1340 //let this count up a few times before it exits
tnhnrl 62:d502889e74f1 1341 if (current_packet_number == last_packet_number) {
tnhnrl 62:d502889e74f1 1342 break_transmission++;
tnhnrl 62:d502889e74f1 1343
tnhnrl 62:d502889e74f1 1344 //break transmission after 50 failed attempts (was 100)
tnhnrl 62:d502889e74f1 1345 if (break_transmission >= 50) {
tnhnrl 62:d502889e74f1 1346 closeIncompleteFile(); //close the file
tnhnrl 62:d502889e74f1 1347 _mbed_receive_ticker.detach();
tnhnrl 62:d502889e74f1 1348 pc().printf("MbedLogger: TRANSMISSION INTERRUPTED!\n\r");
tnhnrl 62:d502889e74f1 1349 break;
tnhnrl 62:d502889e74f1 1350 }
tnhnrl 62:d502889e74f1 1351 }
tnhnrl 62:d502889e74f1 1352 else
tnhnrl 62:d502889e74f1 1353 last_packet_number = current_packet_number;
tnhnrl 62:d502889e74f1 1354 }
tnhnrl 62:d502889e74f1 1355 _mbed_receive_loop = false; // wait until the loop rate timer fires again
tnhnrl 62:d502889e74f1 1356 }
tnhnrl 62:d502889e74f1 1357 }
tnhnrl 62:d502889e74f1 1358 }
tnhnrl 62:d502889e74f1 1359
tnhnrl 62:d502889e74f1 1360 int MbedLogger::getNumberOfPackets() {
tnhnrl 62:d502889e74f1 1361 return _total_number_of_packets;
tnhnrl 62:d502889e74f1 1362 }
tnhnrl 62:d502889e74f1 1363
tnhnrl 62:d502889e74f1 1364 //only do this for the MBED because of the limited file size
tnhnrl 62:d502889e74f1 1365 //write one line to the file (open to write, this will erase all other data) and close it.
tnhnrl 62:d502889e74f1 1366 void MbedLogger::eraseFile() {
tnhnrl 62:d502889e74f1 1367 _fp = fopen(_full_file_path_string.c_str(), "w"); // LOG000.csv
tnhnrl 62:d502889e74f1 1368
tnhnrl 67:c86a4b464682 1369 fprintf(_fp,_heading_string.c_str());
tnhnrl 67:c86a4b464682 1370
tnhnrl 67:c86a4b464682 1371 // _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 1372
tnhnrl 62:d502889e74f1 1373 closeLogFile();
tnhnrl 62:d502889e74f1 1374 }
tnhnrl 62:d502889e74f1 1375
tnhnrl 62:d502889e74f1 1376 void MbedLogger::intCreateDataPacket(int data_buffer[],int payload_length) {
tnhnrl 62:d502889e74f1 1377 // packet is 7565 0001 FFFF EEEE CC DATA DATA DATA ... CRC1 CRC2
tnhnrl 62:d502889e74f1 1378
tnhnrl 62:d502889e74f1 1379 //check here https://www.rapidtables.com/convert/number/hex-to-decimal.html?x=01c0
tnhnrl 62:d502889e74f1 1380 // ieee 754: http://www6.uniovi.es/~antonio/uned/ieee754/IEEE-754hex32.html
tnhnrl 62:d502889e74f1 1381
tnhnrl 62:d502889e74f1 1382 //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
tnhnrl 62:d502889e74f1 1383 _data_packet.clear();
tnhnrl 62:d502889e74f1 1384
tnhnrl 62:d502889e74f1 1385 //DATA PACKET HEADER
tnhnrl 62:d502889e74f1 1386 _data_packet.push_back(117); //0x75
tnhnrl 62:d502889e74f1 1387 _data_packet.push_back(101); //0x65
tnhnrl 62:d502889e74f1 1388
tnhnrl 62:d502889e74f1 1389 _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 1390 _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
tnhnrl 62:d502889e74f1 1391
tnhnrl 62:d502889e74f1 1392 _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 1393 _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
tnhnrl 62:d502889e74f1 1394
tnhnrl 62:d502889e74f1 1395 _data_packet.push_back(_current_line_length);
tnhnrl 62:d502889e74f1 1396
tnhnrl 62:d502889e74f1 1397 //DATA FROM INTEGER ARRAY (read the array)
tnhnrl 62:d502889e74f1 1398 for (int i = 0; i < payload_length; i++) {
tnhnrl 62:d502889e74f1 1399 _data_packet.push_back(data_buffer[i]);
tnhnrl 62:d502889e74f1 1400 }
tnhnrl 62:d502889e74f1 1401
tnhnrl 62:d502889e74f1 1402 //CRC CALCULATIONS BELOW, character version of calculation screws up on null character 0x00, scrapped and using vector of integers
tnhnrl 62:d502889e74f1 1403 int crc_one = calcCrcOne();
tnhnrl 62:d502889e74f1 1404 int crc_two = calcCrcTwo();
tnhnrl 62:d502889e74f1 1405
tnhnrl 62:d502889e74f1 1406 //place the crc bytes into the data packet that is transmitted
tnhnrl 62:d502889e74f1 1407 _data_packet.push_back(crc_one);
tnhnrl 62:d502889e74f1 1408 _data_packet.push_back(crc_two);
tnhnrl 62:d502889e74f1 1409 }
tnhnrl 62:d502889e74f1 1410
tnhnrl 62:d502889e74f1 1411 void MbedLogger::sendStatus() {
tnhnrl 62:d502889e74f1 1412 led3() = !led3();
tnhnrl 62:d502889e74f1 1413 //readPacketInSeries() //uses this functionality
tnhnrl 62:d502889e74f1 1414
tnhnrl 62:d502889e74f1 1415 //get data depth, pitch, heading, timer
tnhnrl 62:d502889e74f1 1416
tnhnrl 62:d502889e74f1 1417 //store the data as a hex char array
tnhnrl 62:d502889e74f1 1418 char hex_char_depth[256];
tnhnrl 62:d502889e74f1 1419 char hex_char_pitch[256];
tnhnrl 62:d502889e74f1 1420 char hex_char_heading[256];
tnhnrl 62:d502889e74f1 1421 char hex_char_timer[256];
tnhnrl 62:d502889e74f1 1422
tnhnrl 62:d502889e74f1 1423 string string_hex_buffer = ""; //buffer to store the hex data as a string
tnhnrl 62:d502889e74f1 1424 string string_temp; // ELIMINATE THIS ASAP
tnhnrl 62:d502889e74f1 1425
tnhnrl 62:d502889e74f1 1426 float depth_value = depthLoop().getPosition();
tnhnrl 62:d502889e74f1 1427 float pitch_value = imu().getPitch();
tnhnrl 62:d502889e74f1 1428 float heading_value = imu().getHeading();
tnhnrl 63:6cb0405fc6e6 1429 //float timer_value = stateMachine().getTimer();
tnhnrl 63:6cb0405fc6e6 1430 float timer_value = 123.123;
tnhnrl 62:d502889e74f1 1431
tnhnrl 62:d502889e74f1 1432 sprintf(hex_char_depth, "%08X" , *(unsigned int*)&depth_value);
tnhnrl 62:d502889e74f1 1433 sprintf(hex_char_pitch, "%08X" , *(unsigned int*)&pitch_value);
tnhnrl 62:d502889e74f1 1434 sprintf(hex_char_heading, "%08X" , *(unsigned int*)&heading_value);
tnhnrl 62:d502889e74f1 1435 sprintf(hex_char_timer, "%08X" , *(unsigned int*)&timer_value);
tnhnrl 62:d502889e74f1 1436
tnhnrl 62:d502889e74f1 1437 //store the integer values
tnhnrl 62:d502889e74f1 1438 int hex_to_int[128];
tnhnrl 62:d502889e74f1 1439
tnhnrl 62:d502889e74f1 1440 //read through hex string and break apart into chunks and save the decimal values
tnhnrl 62:d502889e74f1 1441 int hex_counter = 0;
tnhnrl 62:d502889e74f1 1442
tnhnrl 62:d502889e74f1 1443 //////////////////////////
tnhnrl 62:d502889e74f1 1444 string_hex_buffer = hex_char_depth;
tnhnrl 62:d502889e74f1 1445
tnhnrl 62:d502889e74f1 1446 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1447 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1448 string_temp = string_hex_buffer.substr(i,2); // get substring from string (converted from char array)
tnhnrl 62:d502889e74f1 1449
tnhnrl 62:d502889e74f1 1450 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1451 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1452 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1453 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1454
tnhnrl 62:d502889e74f1 1455 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1456 int decimal_value;
tnhnrl 62:d502889e74f1 1457 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1458
tnhnrl 62:d502889e74f1 1459 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1460 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1461
tnhnrl 62:d502889e74f1 1462 //clear the string each time
tnhnrl 62:d502889e74f1 1463 //string_temp = "";
tnhnrl 62:d502889e74f1 1464 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1465 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1466 }
tnhnrl 62:d502889e74f1 1467
tnhnrl 62:d502889e74f1 1468 string_hex_buffer = hex_char_pitch;
tnhnrl 62:d502889e74f1 1469
tnhnrl 62:d502889e74f1 1470 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1471 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1472 string_temp = string_hex_buffer.substr(i,2);
tnhnrl 62:d502889e74f1 1473
tnhnrl 62:d502889e74f1 1474 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1475 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1476 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1477 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1478
tnhnrl 62:d502889e74f1 1479 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1480 int decimal_value;
tnhnrl 62:d502889e74f1 1481 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1482
tnhnrl 62:d502889e74f1 1483 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1484 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1485
tnhnrl 62:d502889e74f1 1486 //clear the string each time
tnhnrl 62:d502889e74f1 1487 //string_temp = "";
tnhnrl 62:d502889e74f1 1488 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1489 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1490 }
tnhnrl 62:d502889e74f1 1491
tnhnrl 62:d502889e74f1 1492 string_hex_buffer = hex_char_heading;
tnhnrl 62:d502889e74f1 1493
tnhnrl 62:d502889e74f1 1494 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1495 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1496 string_temp = string_hex_buffer.substr(i,2);
tnhnrl 62:d502889e74f1 1497
tnhnrl 62:d502889e74f1 1498 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1499 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1500 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1501 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1502
tnhnrl 62:d502889e74f1 1503 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1504 int decimal_value;
tnhnrl 62:d502889e74f1 1505 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1506
tnhnrl 62:d502889e74f1 1507 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1508 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1509
tnhnrl 62:d502889e74f1 1510 //clear the string each time
tnhnrl 62:d502889e74f1 1511 //string_temp = "";
tnhnrl 62:d502889e74f1 1512 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1513 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1514 }
tnhnrl 62:d502889e74f1 1515
tnhnrl 62:d502889e74f1 1516 string_hex_buffer = hex_char_timer;
tnhnrl 62:d502889e74f1 1517
tnhnrl 62:d502889e74f1 1518 for (int i = 0; i < 8; i = i+2) {
tnhnrl 62:d502889e74f1 1519 //substring starts at x substr(x, length of substring)
tnhnrl 62:d502889e74f1 1520 string_temp = string_hex_buffer.substr(i,2);
tnhnrl 62:d502889e74f1 1521
tnhnrl 62:d502889e74f1 1522 //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
tnhnrl 62:d502889e74f1 1523 // copying the contents of the string to char array
tnhnrl 62:d502889e74f1 1524 char temp_char_array[256];
tnhnrl 62:d502889e74f1 1525 strcpy(temp_char_array, string_temp.c_str());
tnhnrl 62:d502889e74f1 1526
tnhnrl 62:d502889e74f1 1527 //store char array hex value as decimal value
tnhnrl 62:d502889e74f1 1528 int decimal_value;
tnhnrl 62:d502889e74f1 1529 sscanf(temp_char_array,"%x",&decimal_value);
tnhnrl 62:d502889e74f1 1530
tnhnrl 62:d502889e74f1 1531 hex_to_int[hex_counter] = decimal_value;
tnhnrl 62:d502889e74f1 1532 hex_counter++; //iterate to keep up with for loop
tnhnrl 62:d502889e74f1 1533
tnhnrl 62:d502889e74f1 1534 //clear the string each time
tnhnrl 62:d502889e74f1 1535 //string_temp = "";
tnhnrl 62:d502889e74f1 1536 //cout << "string_temp CLEARED? is " << string_temp << endl;
tnhnrl 62:d502889e74f1 1537 //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
tnhnrl 62:d502889e74f1 1538 }
tnhnrl 62:d502889e74f1 1539 //////////////////////////
tnhnrl 62:d502889e74f1 1540
tnhnrl 62:d502889e74f1 1541 //create new packet based on int array
tnhnrl 62:d502889e74f1 1542 _packet_number = 1; // TEST, FIX THIS
tnhnrl 62:d502889e74f1 1543 _total_number_of_packets = 1;
tnhnrl 62:d502889e74f1 1544 _current_line_length = 16;
tnhnrl 62:d502889e74f1 1545
tnhnrl 62:d502889e74f1 1546 intCreateDataPacket(hex_to_int,16);
tnhnrl 62:d502889e74f1 1547
tnhnrl 62:d502889e74f1 1548
tnhnrl 62:d502889e74f1 1549 transmitDataPacket();
tnhnrl 63:6cb0405fc6e6 1550 }
tnhnrl 63:6cb0405fc6e6 1551
tnhnrl 68:8f549749b8ce 1552 void MbedLogger::setTransmitPacketNumber(int packet_number) {
tnhnrl 68:8f549749b8ce 1553 _transmit_packet_num = packet_number;
tnhnrl 69:919ac8d7e023 1554
tnhnrl 69:919ac8d7e023 1555 //also needed to reset a boolean flag on the transmit
tnhnrl 69:919ac8d7e023 1556 _fsm_transmit_complete = false;
tnhnrl 62:d502889e74f1 1557 }