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

Committer:
tnhnrl
Date:
Fri Jun 29 14:21:22 2018 +0000
Revision:
69:919ac8d7e023
Parent:
68:8f549749b8ce
Child:
73:f6f378311c8d
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 #ifndef MBEDLOGGER_HPP
tnhnrl 62:d502889e74f1 2 #define MBEDLOGGER_HPP
tnhnrl 62:d502889e74f1 3
tnhnrl 62:d502889e74f1 4 #include "mbed.h"
tnhnrl 62:d502889e74f1 5 #include <string>
tnhnrl 62:d502889e74f1 6 using namespace std;
tnhnrl 62:d502889e74f1 7
tnhnrl 62:d502889e74f1 8 #include <vector>
tnhnrl 62:d502889e74f1 9
tnhnrl 62:d502889e74f1 10 enum {
tnhnrl 62:d502889e74f1 11 HEADER_117,
tnhnrl 62:d502889e74f1 12 HEADER_101,
tnhnrl 62:d502889e74f1 13 PACKET_NUM,
tnhnrl 62:d502889e74f1 14 TOTAL_NUM_PACKETS,
tnhnrl 62:d502889e74f1 15 PACKET_SIZE,
tnhnrl 62:d502889e74f1 16 END_TRANSMISSION,
tnhnrl 62:d502889e74f1 17 TRANSMIT_PACKET_1,
tnhnrl 62:d502889e74f1 18 TRANSMIT_PACKET_2,
tnhnrl 62:d502889e74f1 19 PACKET_CRC_ONE,
tnhnrl 62:d502889e74f1 20 PACKET_CRC_TWO,
tnhnrl 62:d502889e74f1 21 RANDOM_CHAR,
tnhnrl 62:d502889e74f1 22 COMMAND_ONE,
tnhnrl 62:d502889e74f1 23 COMMAND_TWO
tnhnrl 62:d502889e74f1 24 };
tnhnrl 62:d502889e74f1 25
tnhnrl 62:d502889e74f1 26 class MbedLogger {
tnhnrl 62:d502889e74f1 27 public:
tnhnrl 62:d502889e74f1 28 MbedLogger(string file_system_input_string); //constructor
tnhnrl 62:d502889e74f1 29
tnhnrl 62:d502889e74f1 30 void createTestLog(); //test log function
tnhnrl 62:d502889e74f1 31
tnhnrl 62:d502889e74f1 32 void appendLogFile(int current_state, int option); //check if you have orphaned file pointers before this (file should not be open already)
tnhnrl 62:d502889e74f1 33
tnhnrl 62:d502889e74f1 34 //save float array to file (append each time)
tnhnrl 62:d502889e74f1 35 void saveDataToFile(int input_state, float *input);
tnhnrl 62:d502889e74f1 36
tnhnrl 62:d502889e74f1 37 //REVISED METHOD to save data (same as OpenLog)
tnhnrl 62:d502889e74f1 38 void recordData(int current_state);
tnhnrl 62:d502889e74f1 39
tnhnrl 62:d502889e74f1 40 //print the directory to the screen
tnhnrl 62:d502889e74f1 41 void printMbedDirectory();
tnhnrl 62:d502889e74f1 42
tnhnrl 62:d502889e74f1 43 //print the current MBED log file
tnhnrl 62:d502889e74f1 44 void printCurrentLogFile();
tnhnrl 62:d502889e74f1 45
tnhnrl 62:d502889e74f1 46 //open file for transmit
tnhnrl 62:d502889e74f1 47 void openFileForTransmit();
tnhnrl 62:d502889e74f1 48
tnhnrl 62:d502889e74f1 49 //transmit data when receive confirmation
tnhnrl 62:d502889e74f1 50 void transmitCurrentLogFileLine(bool next_line);
tnhnrl 62:d502889e74f1 51
tnhnrl 62:d502889e74f1 52 //transmit data when receive confirmation
tnhnrl 62:d502889e74f1 53 //void transmitCurrentLogFile();
tnhnrl 62:d502889e74f1 54
tnhnrl 62:d502889e74f1 55 // Create the data packet
tnhnrl 62:d502889e74f1 56 void createDataPacket();
tnhnrl 62:d502889e74f1 57
tnhnrl 62:d502889e74f1 58 // Transmit the data packet
tnhnrl 62:d502889e74f1 59 void transmitDataPacket();
tnhnrl 62:d502889e74f1 60
tnhnrl 62:d502889e74f1 61 // read transmit packet from Python program
tnhnrl 62:d502889e74f1 62 int readTransmitPacket();
tnhnrl 62:d502889e74f1 63
tnhnrl 62:d502889e74f1 64 // REOPEN LINE READER
tnhnrl 62:d502889e74f1 65 void reOpenLineReader();
tnhnrl 62:d502889e74f1 66
tnhnrl 62:d502889e74f1 67 // OPEN LINE READER
tnhnrl 62:d502889e74f1 68 bool openLineReader();
tnhnrl 62:d502889e74f1 69
tnhnrl 62:d502889e74f1 70 //read packet
tnhnrl 62:d502889e74f1 71 void readPacketInSeries();
tnhnrl 62:d502889e74f1 72
tnhnrl 62:d502889e74f1 73 //get the number of packets
tnhnrl 69:919ac8d7e023 74 int getNumberOfPacketsInCurrentLog();
tnhnrl 62:d502889e74f1 75
tnhnrl 62:d502889e74f1 76 // END TRANSMISSION AND CLOSE FILE
tnhnrl 62:d502889e74f1 77 void endTransmissionCloseFile();
tnhnrl 62:d502889e74f1 78
tnhnrl 62:d502889e74f1 79 //open a file to write to it
tnhnrl 62:d502889e74f1 80 void openWriteFile();
tnhnrl 62:d502889e74f1 81
tnhnrl 62:d502889e74f1 82 bool checkForIncomingData();
tnhnrl 62:d502889e74f1 83
tnhnrl 62:d502889e74f1 84 void endReceiveData();
tnhnrl 62:d502889e74f1 85
tnhnrl 62:d502889e74f1 86 void copyFileExample();
tnhnrl 62:d502889e74f1 87
tnhnrl 62:d502889e74f1 88 int calcCrcOneArray(int *input_array, int array_length);
tnhnrl 62:d502889e74f1 89 int calcCrcTwoArray(int *input_array, int array_length);
tnhnrl 62:d502889e74f1 90
tnhnrl 62:d502889e74f1 91 int calcCrcOne(); //used with vector _data_packet, cleaning up later
tnhnrl 62:d502889e74f1 92 int calcCrcTwo();
tnhnrl 62:d502889e74f1 93
tnhnrl 62:d502889e74f1 94 int calcCrcOneString (string string_input);
tnhnrl 62:d502889e74f1 95
tnhnrl 62:d502889e74f1 96 int calcCrcTwoString (string string_input);
tnhnrl 62:d502889e74f1 97
tnhnrl 62:d502889e74f1 98 //NEW for logging actual time
tnhnrl 62:d502889e74f1 99 void setLogTime(); //set a local time
tnhnrl 62:d502889e74f1 100
tnhnrl 62:d502889e74f1 101 int getSystemTime(); //parse the time to record to the log file
tnhnrl 62:d502889e74f1 102
tnhnrl 62:d502889e74f1 103 //NEW
tnhnrl 62:d502889e74f1 104 int sendReply();
tnhnrl 62:d502889e74f1 105 void sendReplyPacketNumber(int packet_number);
tnhnrl 62:d502889e74f1 106
tnhnrl 62:d502889e74f1 107 void resetReplyPacket();
tnhnrl 62:d502889e74f1 108
tnhnrl 62:d502889e74f1 109 void openNewMissionFile();
tnhnrl 62:d502889e74f1 110
tnhnrl 62:d502889e74f1 111 void setDataCounter(int input_counter);
tnhnrl 62:d502889e74f1 112
tnhnrl 62:d502889e74f1 113 void closeIncompleteFile();
tnhnrl 62:d502889e74f1 114
tnhnrl 62:d502889e74f1 115 void initializeLogFile();
tnhnrl 62:d502889e74f1 116
tnhnrl 62:d502889e74f1 117 int fileTransmitState();
tnhnrl 62:d502889e74f1 118
tnhnrl 62:d502889e74f1 119 int testGetFileSize();
tnhnrl 62:d502889e74f1 120
tnhnrl 62:d502889e74f1 121 int getFileSize(string filename);
tnhnrl 62:d502889e74f1 122
tnhnrl 62:d502889e74f1 123 void createEmptyLog();
tnhnrl 62:d502889e74f1 124
tnhnrl 62:d502889e74f1 125 int debugFileState();
tnhnrl 62:d502889e74f1 126
tnhnrl 62:d502889e74f1 127 //TICKER AND FUNCTION TO RECEIVE DATA
tnhnrl 62:d502889e74f1 128 void activateReceivePacket();
tnhnrl 62:d502889e74f1 129 void receiveMissionDataWithTicker();
tnhnrl 62:d502889e74f1 130
tnhnrl 62:d502889e74f1 131 void closeLogFile(); //this sets pointer to null and checks if it is closed otherwise
tnhnrl 62:d502889e74f1 132
tnhnrl 62:d502889e74f1 133 void specifyFileForTransmit(string input_string);
tnhnrl 62:d502889e74f1 134 void transmitFileFromDirectory(int file_number);
tnhnrl 62:d502889e74f1 135 void accessMbedDirectory();
tnhnrl 62:d502889e74f1 136
tnhnrl 62:d502889e74f1 137 int getFilePointerState();
tnhnrl 62:d502889e74f1 138 void testToggleFilePointer();
tnhnrl 62:d502889e74f1 139
tnhnrl 62:d502889e74f1 140 int getNumberOfPackets();
tnhnrl 62:d502889e74f1 141
tnhnrl 62:d502889e74f1 142 void readTransmitPacketOneChar();
tnhnrl 62:d502889e74f1 143
tnhnrl 62:d502889e74f1 144 bool isTransmissionComplete();
tnhnrl 62:d502889e74f1 145 int currentPacketNumber();
tnhnrl 62:d502889e74f1 146 void eraseFile();
tnhnrl 62:d502889e74f1 147
tnhnrl 62:d502889e74f1 148 string _received_filename; //testing
tnhnrl 62:d502889e74f1 149
tnhnrl 62:d502889e74f1 150 void receiveMissionDataWithFSM(); //for use in Finite State Machine
tnhnrl 62:d502889e74f1 151
tnhnrl 62:d502889e74f1 152 void openReceiveFile(string filename); //create a file with an input filename
tnhnrl 62:d502889e74f1 153
tnhnrl 62:d502889e74f1 154 void setTransmissionComplete(bool transmit_complete_status);
tnhnrl 62:d502889e74f1 155
tnhnrl 62:d502889e74f1 156 void sendStatus();
tnhnrl 62:d502889e74f1 157
tnhnrl 62:d502889e74f1 158 void intCreateDataPacket(int data_buffer[],int payload_length);
tnhnrl 63:6cb0405fc6e6 159
tnhnrl 63:6cb0405fc6e6 160 int getLogSize(); //used in state machine
tnhnrl 67:c86a4b464682 161
tnhnrl 67:c86a4b464682 162 string _heading_string;
tnhnrl 68:8f549749b8ce 163
tnhnrl 68:8f549749b8ce 164 void continuouslyTransmitData();
tnhnrl 68:8f549749b8ce 165
tnhnrl 68:8f549749b8ce 166 void continuouslyTransmitDataNoTimer();
tnhnrl 68:8f549749b8ce 167
tnhnrl 68:8f549749b8ce 168 void transmitPacketNumber(int line_or_packet_number);
tnhnrl 68:8f549749b8ce 169
tnhnrl 69:919ac8d7e023 170 void checkForPythonTransmitRequest();
tnhnrl 68:8f549749b8ce 171
tnhnrl 68:8f549749b8ce 172 bool fsmTransmitData();
tnhnrl 68:8f549749b8ce 173
tnhnrl 68:8f549749b8ce 174 void setTransmitPacketNumber(int packet_number);
tnhnrl 69:919ac8d7e023 175
tnhnrl 69:919ac8d7e023 176 void createDataPacket(char line_buffer_sent[], int line_length_sent);
tnhnrl 62:d502889e74f1 177
tnhnrl 62:d502889e74f1 178 private:
tnhnrl 62:d502889e74f1 179 int _file_number;
tnhnrl 62:d502889e74f1 180
tnhnrl 62:d502889e74f1 181 char _file_name[256]; //file name placeholder
tnhnrl 62:d502889e74f1 182 char _line_buffer[256]; //line buffer used to read file line by line
tnhnrl 62:d502889e74f1 183
tnhnrl 62:d502889e74f1 184 FILE *_fp; //the file is a class member variable
tnhnrl 62:d502889e74f1 185
tnhnrl 62:d502889e74f1 186 vector <int> _data_packet;
tnhnrl 62:d502889e74f1 187
tnhnrl 62:d502889e74f1 188 std::vector<int>::iterator _it;
tnhnrl 62:d502889e74f1 189
tnhnrl 62:d502889e74f1 190 int _current_line_length;
tnhnrl 62:d502889e74f1 191
tnhnrl 62:d502889e74f1 192 int _packet_number;
tnhnrl 62:d502889e74f1 193 int _total_number_of_packets;
tnhnrl 62:d502889e74f1 194 string _log_file_string;
tnhnrl 62:d502889e74f1 195
tnhnrl 62:d502889e74f1 196 int _reply_byte;
tnhnrl 62:d502889e74f1 197 int _reply_byte2;
tnhnrl 62:d502889e74f1 198 int _reply_byte3;
tnhnrl 62:d502889e74f1 199 int _reply_byte4;
tnhnrl 62:d502889e74f1 200 int _previous_reply_byte;
tnhnrl 62:d502889e74f1 201
tnhnrl 62:d502889e74f1 202 bool _file_transmission; //breaks out of loop in State Machine
tnhnrl 62:d502889e74f1 203
tnhnrl 67:c86a4b464682 204 float _data_log[14]; //for logging all of the data from the outer and inner loops and so on
tnhnrl 62:d502889e74f1 205
tnhnrl 62:d502889e74f1 206 int _confirmed_packet_number;
tnhnrl 62:d502889e74f1 207
tnhnrl 62:d502889e74f1 208 bool _still_transmitting_data;
tnhnrl 62:d502889e74f1 209
tnhnrl 62:d502889e74f1 210 int _transmit_counter;
tnhnrl 62:d502889e74f1 211
tnhnrl 62:d502889e74f1 212 int _file_transmission_state; //needed to test out what's going on with receiver
tnhnrl 62:d502889e74f1 213
tnhnrl 62:d502889e74f1 214 int _number_of_packets[2];
tnhnrl 62:d502889e74f1 215
tnhnrl 62:d502889e74f1 216 Ticker _mbed_transmit_ticker;
tnhnrl 62:d502889e74f1 217 Ticker _mbed_receive_ticker;
tnhnrl 62:d502889e74f1 218
tnhnrl 62:d502889e74f1 219 volatile bool _mbed_transmit_loop;
tnhnrl 62:d502889e74f1 220 volatile bool _mbed_receive_loop;
tnhnrl 62:d502889e74f1 221
tnhnrl 62:d502889e74f1 222 string _file_system_string;
tnhnrl 62:d502889e74f1 223 string _full_file_path_string;
tnhnrl 62:d502889e74f1 224
tnhnrl 62:d502889e74f1 225 bool _file_transmission_complete; //was volatile screwing up the state of this?
tnhnrl 63:6cb0405fc6e6 226
tnhnrl 63:6cb0405fc6e6 227 int _log_file_line_counter;
tnhnrl 68:8f549749b8ce 228
tnhnrl 68:8f549749b8ce 229 int _transmit_packet_num;
tnhnrl 69:919ac8d7e023 230
tnhnrl 69:919ac8d7e023 231 bool _fsm_transmit_complete;
tnhnrl 62:d502889e74f1 232 };
tnhnrl 62:d502889e74f1 233
tnhnrl 62:d502889e74f1 234 #endif