Flying Sea Glider
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
Diff: MbedLogger/MbedLogger.cpp
- Revision:
- 46:030be9f5c793
- Child:
- 47:fb3c7929d3f3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MbedLogger/MbedLogger.cpp Thu Feb 15 02:40:30 2018 +0000
@@ -0,0 +1,1207 @@
+#include "MbedLogger.hpp"
+#include "StaticDefs.hpp"
+
+MbedLogger::MbedLogger(string file_system_input_string) {
+ _file_system_string = file_system_input_string;
+
+ _full_file_path_string = _file_system_string + "LOG000.csv";
+
+ _f = 0;
+ _file_number = 0;
+
+ _file_transmission = true;
+
+ _confirmed_packet_number = 0; //must set this to zero
+
+ _transmit_counter = 0;
+
+ _file_transmission_state = -1;
+
+ _total_number_of_packets = 0;
+
+ _mbed_transmit_loop = false;
+
+ _SD_file_name_string = "";
+
+ _file_transmission_complete = false;
+}
+
+//this function has to be called for the time to function correctly
+void MbedLogger::setLogTime() {
+ pc().printf("\nMbed Log time set.\n\r");
+ set_time(1518467832); // Set RTC time to Mon, 12 FEB 2018 15:37
+}
+
+//in the future create the ability to set the start time
+int MbedLogger::getSystemTime() {
+ time_t seconds = time(NULL); // Time as seconds since January 1, 1970
+
+ return seconds;
+}
+
+void MbedLogger::copySDFile() {
+}
+
+//function is a work in progress
+void MbedLogger::openSDFile() {
+ //create a file for writing to it (overwrites existing file) (do not close it until other operations are complete)
+
+ //write this as a string...
+ char char_buffer[50];
+ sprintf(char_buffer, "L%d.csv", getSystemTime());
+
+
+ _SD_file_name_string = _file_system_string + char_buffer;
+ _fp = fopen(_SD_file_name_string.c_str(), "w");
+
+ //write the header
+ 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\n");
+
+ // added pitchRate_degs (degrees per second)
+ // added depthRate_fps (feet per second)
+
+ pc().printf("SD CARD FILE IS %s\n\r", _SD_file_name_string.c_str());
+}
+
+void MbedLogger::saveDataToFile(int input_state, float *input) {
+ //write to the file (header and data)
+ fprintf(_fp, "%d,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f\n",input_state,input[0],input[1],input[2],input[3],input[4],input[5],input[6],input[7],input[8],input[9],input[10]);
+}
+
+void MbedLogger::recordData(int current_state) {
+ int data_log_int = mbedLogger().getSystemTime(); //read the system timer to get unix timestamp
+ //_data_log[0] = mbedLogger().getSystemTime(); //read the system timer to get unix timestamp
+ _data_log[1] = depthLoop().getCommand(); //depth command
+ _data_log[2] = depthLoop().getPosition(); //depth reading
+ _data_log[3] = pitchLoop().getCommand(); //pitch command
+ _data_log[4] = pitchLoop().getPosition(); //pitch reading
+ _data_log[5] = bce().getSetPosition_mm(); //BCE command
+ _data_log[6] = bce().getPosition_mm(); //BCE reading
+ _data_log[7] = batt().getSetPosition_mm(); //Batt command
+ _data_log[8] = batt().getPosition_mm(); //Batt reading
+ _data_log[9] = pitchLoop().getVelocity(); // pitchRate_degs (degrees per second)
+ _data_log[10] = depthLoop().getVelocity(); // depthRate_fps (feet per second)
+
+ //check what the current state is and create that string
+ string string_state;
+ if (current_state == SIT_IDLE)
+ string_state = "SIT_IDLE";
+ else if (current_state == FIND_NEUTRAL)
+ string_state = "FIND_NEUTRAL";
+ else if (current_state == DIVE)
+ string_state = "DIVE";
+ else if (current_state == RISE)
+ string_state = "RISE";
+ else if (current_state == FLOAT_LEVEL)
+ string_state = "FLOAT_LEVEL";
+ else if (current_state == FLOAT_BROADCAST)
+ string_state = "FLOAT_BROADCAST";
+ else if (current_state == EMERGENCY_CLIMB)
+ string_state = "EMERGENCY_CLIMB";
+ else if (current_state == MULTI_DIVE)
+ string_state = "MULTI_DIVE";
+ else if (current_state == MULTI_RISE)
+ string_state = "MULTI_RISE";
+ else if (current_state == KEYBOARD)
+ string_state = "KEYBOARD";
+
+ //record the string state, integer state, and then the data
+ fprintf(_fp, "%s,%d,",string_state.c_str(),current_state);
+ fprintf(_fp, "%d,",data_log_int);
+ fprintf(_fp, "%0.1f,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f,%0.1f\n",_data_log[1],
+ _data_log[2],_data_log[3],_data_log[4],_data_log[5],_data_log[6],_data_log[7],_data_log[8],_data_log[9],_data_log[10]);
+}
+
+void MbedLogger::printMbedDirectory() {
+ DIR *dir;
+ struct dirent *dp; //dirent.h is the format of directory entries
+ int log_found =0,loop=0;
+ long int temp=0;
+
+ //char * char_pointer;
+ char * numstart;
+ //char *numstop;
+
+ pc().printf("\n\rPrinting out the directory of device %s\n\r", _file_system_string.c_str());
+
+ if ( NULL == (dir = opendir( _file_system_string.c_str() )) ) {
+ pc().printf("MBED directory could not be opened\r\n");
+ }
+ else
+ {
+ while ( NULL != (dp = readdir( dir )) )
+ {
+ if(strncmp(dp->d_name,"LOG",3)==0)
+ {
+ log_found=1;
+ /*numstart = dp->d_name; //Look for third character (do safety)
+ numstop = strchr(dp->d_name,'.');
+ if(numstart!=NULL&&numstop!=NULL)
+ {
+ temp=numstop-numstart;
+ }
+ else
+ log_found=0; //Something is not right. Ignore
+ */
+ numstart=dp->d_name+3;
+ temp=strtol(numstart,NULL,10); //add in check to see if this is null (start logs at one)
+ }
+ else
+ log_found=0;
+ pc().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
+
+ loop++;
+ }
+ }
+}
+
+void MbedLogger::printCurrentLogFile() {
+ //open the file for reading
+ string file_name_string = _file_system_string + "LOG000.csv";
+
+ _fp = fopen(file_name_string.c_str(), "r");
+
+ // http://people.cs.uchicago.edu/~dmfranklin/tutorials/fgets.txt
+
+ //while not end of file, read through line by line???
+ char buffer[500];
+
+ //read the file line by line (and print each line)
+ pc().printf("\n\rCURRENT MBED LOG FILE /local/Log%03d.csv:\n\n\r",_file_number);
+ while (!feof(_fp)) {
+ // read in the line and make sure it was successful
+ if (fgets(buffer,500,_fp) != NULL) {
+ pc().printf("%s\r",buffer);
+ }
+ }
+
+ //close the file
+ closeLogFile();
+ pc().printf("\n\rLog file closed.\n\r");
+}
+
+void MbedLogger::openFileForTransmit() {
+ pc().printf("\n\ropenFileForTransmit\n\r");
+ //open the current file to read the contents
+ string file_name_string = _file_system_string + "LOG000.csv";
+
+ _fp = fopen(file_name_string.c_str(), "r");
+
+ _file_transmission = true;
+}
+
+void MbedLogger::transmitCurrentLogFileLine(bool next_line) {
+ vector <int> current_packet;
+
+ pc().printf("\n\rtransmitCurrentLogFile\n\r");
+
+ //while not end of file, read through line by line???
+
+ //transmit the file line by line (reads one line)
+ //if you get the command to send a new line, go to the next line
+ if (next_line) {
+ if (fgets(_line_buffer,256,_fp) != NULL) {
+ pc().printf("%s\r",_line_buffer);
+ }
+ }
+
+ // GET BUFFER LENGTH
+ _current_line_length = strlen(_line_buffer);
+
+ //DEBUG PRINT TO SCREEN
+ pc().printf("line_buffer size: %d %<%s>\r",_current_line_length,_line_buffer);
+}
+
+void MbedLogger::createDataPacket() {
+ //pc().printf("createDataPacket\n\r");
+
+ // packet is 7565 0001 FFFF DATA DATA DATA ... CRC1 CRC2
+
+ //CLEAR: Removes all elements from the vector (which are destroyed), leaving the container with a size of 0.
+ _data_packet.clear();
+
+ //DATA PACKET HEADER
+ _data_packet.push_back(117); //0x75
+ _data_packet.push_back(101); //0x65
+
+ _data_packet.push_back(_packet_number/256); //current packet number in 0x#### form
+ _data_packet.push_back(_packet_number%256); //current packet number in 0x#### form
+
+ _data_packet.push_back(_total_number_of_packets/256); //total number of packets, 0x#### form
+ _data_packet.push_back(_total_number_of_packets%256); //total number of packets, 0x#### form
+
+ _data_packet.push_back(_current_line_length);
+
+ //DATA FROM LINE READ (read string character by chracter)
+ for (int i = 0; i < _current_line_length; i++) {
+ _data_packet.push_back(_line_buffer[i]);
+ }
+
+ //CRC CALCULATIONS BELOW
+ //character version of calculation screws up on null character 0x00, scrapped and using vector of integers
+
+ int crc_one = calcCrcOne();
+ int crc_two = calcCrcTwo();
+
+ //place the crc bytes into the data packet that is transmitted
+ _data_packet.push_back(crc_one);
+ _data_packet.push_back(crc_two);
+}
+
+//should i save it as a string and transmit the string? next iteration maybe
+
+void MbedLogger::transmitDataPacket() {
+ //WRITE the data (in bytes) to the serial port
+ for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++) {
+ pc().putc(*_it); //send integers over serial port one byte at a time
+ }
+}
+
+// REACH ONE CHAR AT A TIME (EACH ITERATION OF STATE MACHINE...)
+
+void MbedLogger::readTransmitPacketOneChar() {
+ _file_transmission = true;
+ _file_transmission_state = 0;
+
+ //first check if you're receiving data, then read four bytes
+
+ static int transmit_state = HEADER_117; //for state machine
+
+ int incoming_byte = -1;
+
+ int requested_packet_number = -1;
+
+ static int inside_while_loop = 1;
+
+ static char input_packet[4];
+
+ static int transmit_crc_one = 0;
+ static int transmit_crc_two = 0;
+
+ static int random_packet_counter = 0;
+
+ if (pc().readable()) { //don't rely on pc readable being open all the time
+ incoming_byte = pc().getc();
+ led2() = !led2();
+
+ }
+
+ switch(transmit_state) {
+
+ case (HEADER_117):
+ random_packet_counter = 0;
+ //pc().printf("SC %x (%d)\n\r", incoming_byte, transmit_state);
+ //continue processing
+ if (incoming_byte == 30){ //1E
+ //pc().printf("byte one \n\r");
+ transmit_state = HEADER_101;
+ led3() = !led3();
+
+ random_packet_counter = 0; //successful read
+ }
+ //end transmission
+ else if (incoming_byte == 16) {
+ transmit_state = END_TRANSMISSION;
+ random_packet_counter = 0; //successful read
+ }
+ else {
+ transmit_state = HEADER_117; //go back to checking the first packet
+
+ random_packet_counter++; //UNSUCCESSFUL READ
+
+ if (random_packet_counter > 10) {
+ transmit_state = END_TRANSMISSION;
+ }
+ }
+ break;
+
+ case (HEADER_101):
+ if(incoming_byte == 31) { //1F
+ //pc().printf("byte two \n\r");
+ transmit_state = TRANSMIT_PACKET_1;
+ led4() = !led4();
+ }
+ break;
+
+ case (TRANSMIT_PACKET_1):
+ if (incoming_byte >= 0) {
+ input_packet[0] = 30;
+ input_packet[1] = 31;
+ input_packet[2] = incoming_byte;
+
+ transmit_state = TRANSMIT_PACKET_2;
+ _reply_byte3 = incoming_byte;
+ //pc().printf("byte three \n\r");
+ }
+ break;
+
+ case (TRANSMIT_PACKET_2):
+ if (incoming_byte >= 0) {
+ input_packet[3] = incoming_byte;
+ _reply_byte4 = incoming_byte;
+ //pc().printf("byte four \n\r");
+ }
+ transmit_state = PACKET_CRC_ONE;
+
+ break;
+
+ case (PACKET_CRC_ONE):
+ transmit_crc_one = calcCrcOneString(input_packet);
+ transmit_state = PACKET_CRC_TWO;
+ break;
+
+ case (PACKET_CRC_TWO):
+ transmit_crc_two = calcCrcTwoString(input_packet);
+ transmit_state = HEADER_117;
+
+
+
+ requested_packet_number = _reply_byte3 * 256 + _reply_byte4; //compute the numbers 0 through 65535 with the two bytes
+
+ //pc().printf("req packet number is %d\n\r", requested_packet_number);
+
+ if (requested_packet_number != _previous_reply_byte) { //CHANGE THE NAME TO SOMETHING NOT BYTE!
+ //MUST SET THE PACKET NUMBER
+ _packet_number = requested_packet_number;
+
+ // DO NOT READ IF THE CURRENT REQUEST IS PAST THE TOTAL # OF PACKETS (lines of the file)
+ if (_packet_number <= _total_number_of_packets) {
+ readPacketInSeries();
+ createDataPacket();
+ }
+
+ _previous_reply_byte = requested_packet_number; //RECORD THIS BYTE to prevent new packets being created
+
+ //pc().printf("DEBUG IF transmitDataPacket\n\r");
+ transmitDataPacket(); //continuously transmit current packet until it tells you to do the next packet (response from Python program)
+ }
+
+ else {
+ //inside_while_loopc().printf("DEBUG: TRANSMIT SAME PACKET #%d\n\r", _packet_number);
+ transmitDataPacket();
+ //pc().printf("DEBUG ELSE transmitDataPacket\n\r");
+ }
+
+ break;
+
+ case END_TRANSMISSION:
+ _file_transmission_complete = true; //this triggers an exit on the state machine
+ break;
+ } //end of switch statement
+
+ //once you're outside of the while loop
+ inside_while_loop = true; //for next iteration
+
+ /* pc().printf("DEBUG: (readTransmitPacket) Outside of while loop\n\r"); */
+}
+
+int MbedLogger::readTransmitPacket() {
+ _file_transmission = true;
+ _file_transmission_state = 0;
+
+ //first check if you're receiving data, then read four bytes
+
+ int transmit_state = 0; //for state machine
+
+ int incoming_byte = -1;
+
+ int requested_packet_number = -1;
+
+ static int inside_while_loop = 1;
+
+ while (inside_while_loop) {
+ if (pc().readable()) { //don't rely on pc readable being open all the time
+
+ incoming_byte = pc().getc();
+
+ switch(transmit_state) {
+
+ case (HEADER_117):
+ //continue processing
+ if (incoming_byte == 117){
+ transmit_state = HEADER_101;
+ }
+ //end transmission
+ else if (incoming_byte == 16) {
+ transmit_state = END_TRANSMISSION;
+ }
+ else {
+ transmit_state = HEADER_117;
+ }
+ break;
+
+ case (HEADER_101):
+ if(incoming_byte == 101) {
+ transmit_state = TRANSMIT_PACKET_1;
+ }
+ break;
+
+ case (TRANSMIT_PACKET_1):
+ if (incoming_byte >= 0) {
+ transmit_state = TRANSMIT_PACKET_2;
+ _reply_byte3 = incoming_byte;
+ }
+ break;
+
+ case (TRANSMIT_PACKET_2):
+ if (incoming_byte >= 0) {
+ _reply_byte4 = incoming_byte;
+ }
+
+ requested_packet_number = _reply_byte3 * 256 + _reply_byte4; //compute the numbers 0 through 65535 with the two bytes
+
+ if (requested_packet_number != _previous_reply_byte) { //CHANGE THE NAME TO SOMETHING NOT BYTE!
+ //MUST SET THE PACKET NUMBER
+ _packet_number = requested_packet_number;
+
+ readPacketInSeries();
+ createDataPacket();
+ _previous_reply_byte = requested_packet_number; //RECORD THIS BYTE to prevent new packets being created
+
+ transmitDataPacket(); //continuously transmit current packet until it tells you to do the next packet (response from Python program)
+ }
+
+ else {
+ //inside_while_loopc().printf("DEBUG: TRANSMIT SAME PACKET #%d\n\r", _packet_number);
+ transmitDataPacket();
+ }
+
+ //TRANSMIT_PACKET_2
+ inside_while_loop = 0; //exit the while loop with this
+ pc().printf("(TRANSMIT_PACKET_2)reached inside_while_loop = 0\n\r"); //DEBUG
+ break;
+ } //end of switch statement
+ } //end of while loop
+
+// else {
+// //pc().printf("pc not readable \n\r");
+// }
+//
+ }
+
+ //once you're outside of the while loop
+ inside_while_loop = true; //for next iteration
+
+ pc().printf("DEBUG: (readTransmitPacket) Outside of while loop\n\r");
+ return false;
+}
+
+void MbedLogger::reOpenLineReader() {
+ //open a new one
+ string file_name_string = _file_system_string + "LOG000.csv";
+
+ _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
+
+ //check if this actually worked...
+ if (!_fp) {
+ pc().printf("ERROR: Log file could not be opened\n\r");
+ }
+ else {
+ pc().printf("Current Log file (LOG000.csv) was opened.\n\r");
+ }
+}
+
+bool MbedLogger::openLineReader() {
+ string file_name_string = _file_system_string + "LOG000.csv";
+
+ _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
+
+ //check if this actually worked...
+ if (!_fp) {
+ //pc().printf("ERROR: Log file could not be opened\n\r");
+ return false;
+ }
+ else {
+ //pc().printf("Current Log file (LOG000.csv) was opened.\n\r");
+ return true;
+ }
+}
+
+//VERIFIED THIS IS WORKING
+void MbedLogger::readPacketInSeries(){
+ 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
+
+ //pc().printf("readPacketInSeries pointer: %p\n\r", _fp);
+
+ //read the current line in the file
+ fgets(_line_buffer, 256, _fp); //reads the line of characters until you reach a newline character
+
+ //RECORD THE STRING LENGTH
+ _current_line_length = strlen(_line_buffer);
+ //pc().printf("_current_line_length: %D\n\r", _current_line_length);
+}
+
+void MbedLogger::getNumberOfPacketsInCurrentLog() {
+ _file_transmission_complete = false; //not sure this is working correctly
+ _packet_number = 0;
+
+ int ch;
+
+ _total_number_of_packets = 0; //clear this each time you read the file
+
+ //if this is null, use the default, else use the new file
+
+ if (_fp == NULL) {
+ string file_name_string = _file_system_string + "LOG000.csv";
+
+ _fp = fopen(file_name_string.c_str(), "r"); //open the log file to read
+ }
+ else { //else, use the file that is already open...
+ fseek(_fp, 0, SEEK_SET); // SEEK_SET is the beginning of file
+ }
+
+ while (EOF != (ch=getc(_fp))) {
+ if ('\n' == ch)
+ _total_number_of_packets++; // records the number of new lines to determine how many packets to send
+ }
+
+ pc().printf("There are %d lines/packets in the file.\n\r", _total_number_of_packets);
+
+
+ //move the FILE pointer back to the start
+ fseek(_fp, 0, SEEK_SET); // SEEK_SET is the beginning of file
+
+ _file_transmission = true; //preparing to transmit files from MBED to Python
+}
+
+void MbedLogger::endTransmissionCloseFile() {
+ // if the file pointer is null, the file was not opened in the first place
+ if (!_fp) {
+ pc().printf("\n endTransmissionCloseFile: FILE WAS NOT OPENED!\n\r");
+ }
+ else {
+ pc().printf("\n endTransmissionCloseFile: FILE FOUND AND CLOSED!\n\r");
+ closeLogFile();
+ }
+
+ _file_transmission = false;
+}
+
+void MbedLogger::openWriteFile() {
+ pc().printf("Opening file for reception.\n\r");
+
+ string file_name_string = _file_system_string + "LOG000.csv";
+
+ _fp = fopen(file_name_string.c_str(), "w");
+}
+
+// function checks for incoming data (receiver function) from a Python program that transmits a file
+bool MbedLogger::checkForIncomingData() {
+ int receive_packet_number;
+ int receive_total_number_packets;
+ int receive_packet_size;
+
+ bool data_transmission_complete = false;
+
+ int incoming_byte;
+
+ char char_buffer[256] = {}; //create empty buffer
+
+ //starting state
+ int process_state = HEADER_117;
+
+ //variables for processing data below
+ int checksum_one = -1;
+ int checksum_two = -1;
+
+ int calculated_crc_one = -1 ;
+ int calculated_crc_two = -1;
+
+ int i = 5;
+ int serial_timeout = 0;
+
+ while (pc().readable() && !data_transmission_complete) {
+ incoming_byte = pc().getc(); //getc returns an unsigned char cast to an int
+ //pc().printf("DEBUG: State 0\n\r");
+
+ switch(process_state) {
+ case HEADER_117:
+ //continue processing
+ if (incoming_byte == 117){
+ process_state = HEADER_101;
+ //pc().printf("DEBUG: Case 117\n\r");
+ }
+ //end transmission
+ else if (incoming_byte == 16) {
+ process_state = END_TRANSMISSION;
+ pc().printf("DEBUG: State 16 (END_TRANSMISSION)\n\r");
+ }
+ else {
+ process_state = HEADER_117; // ???
+ //pc().printf("DEBUG: State Header 117\n\r");
+ }
+ break;
+
+ case HEADER_101:
+ if(incoming_byte == 101) {
+ process_state = PACKET_NUM;
+ //pc().printf("DEBUG: Case 101\n\r");
+ }
+ break;
+
+ case PACKET_NUM:
+ receive_packet_number = incoming_byte;
+ process_state = TOTAL_NUM_PACKETS;
+ //pc().printf("DEBUG: Case PACKET_NUM\n\r");
+ break;
+
+ case TOTAL_NUM_PACKETS:
+ receive_total_number_packets = incoming_byte;
+ process_state = PACKET_SIZE;
+ //pc().printf("DEBUG: Case TOTAL_NUM_PACKETS\n\r");
+ break;
+
+ case PACKET_SIZE:
+ receive_packet_size = incoming_byte;
+ //pc().printf("DEBUG: Case PACKET_SIZE\n\r");
+
+ //write the header stuff to it
+ char_buffer[0] = 117;
+ char_buffer[1] = 101;
+ char_buffer[2] = receive_packet_number;
+ char_buffer[3] = receive_total_number_packets;
+ char_buffer[4] = receive_packet_size;
+
+ //pc().printf("DEBUG: after header\n\r");
+
+ //char temp_char = NULL; //TEST IDEA 1/12/2018
+
+ //process packet data
+ //pc().printf("DEBUG: receive_packet_size %d\n\r", receive_packet_size);
+ //append for larger data sizes, FF FF
+
+ // IF YOU GET AN INTERRUPTED DATA STREAM YOU NEED TO BREAK OUT OF THE LOOP
+ i = 5;
+ serial_timeout = 0;
+
+ while (true) {
+ if (pc().readable()) {
+ char_buffer[i] = pc().getc();
+ i++;
+
+ serial_timeout = 0; //reset the timeout
+
+ //pc().printf("pc readable?\n\r");
+ }
+ else {
+ serial_timeout++;
+ //pc().printf("serial_timeout %d\n\r", serial_timeout);
+ }
+
+ // FULL PACKET RECEIVED
+ if (i >= receive_packet_size+5) { //cannot do this properly with a for loop
+ //pc().printf("i is %d\n\r", i);
+
+ checksum_one = pc().getc();
+ checksum_two = pc().getc();
+
+ calculated_crc_one = calcCrcOneString(char_buffer);
+ calculated_crc_two = calcCrcTwoString(char_buffer);
+
+ //if both checksums work...
+ if ((calculated_crc_one == checksum_one) and (calculated_crc_two == checksum_two)) {
+ //print a subset of the character array by starting at 5 (after header)
+ fprintf(_fp, "%s", char_buffer+5);
+
+ _confirmed_packet_number = receive_packet_number;
+ }
+
+ process_state = HEADER_117;
+
+ break;
+ }
+
+ if (serial_timeout >= 10000) {
+ //pc().printf("break serial_timeout %d\n\r", serial_timeout);
+ break;
+ }
+ }
+ break;
+
+ case END_TRANSMISSION:
+ if (pc().getc() == 16) {
+ pc().printf("TROY, you're here. 1. \n\r");
+
+ if (pc().getc() == 16) {
+ pc().printf("TROY, you're here. 2. \n\r");
+
+ endReceiveData();
+ }
+ }
+
+ pc().printf("TROY, you're here. 5. \n\r");
+
+ //process_state = HEADER_117; //don't do this unless the check is wrong
+ pc().printf("END_TRANSMISSION process_state is %d\n\r", process_state); //should be 5 (debug) 02/06/2018
+ data_transmission_complete = true;
+ break;
+ }//END OF SWITCH
+
+ if (data_transmission_complete) {
+ pc().printf("if statement data_transmission_complete ??? \n\r");
+ break; //out of while loop
+ }
+ } // while loop
+
+ //pc().printf("checkForIncomingData done???\n\r"); //debug
+
+ if (data_transmission_complete)
+ return false; //tell state machine class that this is done (not transmitting, false)
+ else {
+ return true;
+ }
+}
+
+int MbedLogger::sendReply() {
+ //being explicit in what's being transmitted
+
+ //change this method to be more explicit later
+
+ //integer vector _data_packet is used here, cleared fist just in case
+
+ _data_packet.clear(); //same data packet for transmission
+ _data_packet.push_back(117);
+ _data_packet.push_back(101);
+
+ //_confirmed_packet_number comes from the packet number that is sent from the Python program
+ _data_packet.push_back(_confirmed_packet_number / 256); //packet number only changed when confirmed
+ _data_packet.push_back(_confirmed_packet_number % 256); //split into first and second byte
+
+ //compute checksums
+
+ int receiver_crc_one = calcCrcOne();
+ int receiver_crc_two = calcCrcTwo();
+
+ _data_packet.push_back(receiver_crc_one);
+ _data_packet.push_back(receiver_crc_two);
+
+ //transmit this packet
+ for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++) {
+ pc().putc(*_it); //send integers over serial port one byte at a time
+ }
+
+ //change process methodology later...
+
+ return _confirmed_packet_number;
+}
+
+//void MbedLogger::sendReplyPacketNumber(int packet_number) {
+// //being explicit in what's being transmitted
+// pc().putc(117);
+// pc().putc(101);
+// pc().putc(packet_number / 256); //this removes the trailing byte
+// pc().putc(packet_number % 256); //remainder gives you second byte (removes first byte)
+// pc().putc(packet_number);
+//
+// //not sure a checksum is needed here, I'll test behavior
+// //example is a reply of 75 65 03 03 03 (telling Python program you received packet # 3)
+//}
+
+//DLE character * 4 ==> 10 10 10 10
+void MbedLogger::endReceiveData() {
+ closeLogFile(); //close the file here
+ pc().printf("endReceiveData closed the file and ended transmission\n\r");
+}
+
+int MbedLogger::calcCrcOne() {
+ //can't initialize the table in the constructor in c++
+ 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};
+
+ int crc = 0;
+ for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++)
+ crc = (crc_table[(*_it ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
+
+ return crc / 256; //second-to-last byte
+}
+
+int MbedLogger::calcCrcTwo() {
+ 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};
+
+ int crc = 0;
+ for (_it=_data_packet.begin(); _it < _data_packet.end(); _it++)
+ crc = (crc_table[(*_it ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
+
+ //pc().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_array.length(), crc % 256);
+
+ return crc % 256; //last byte
+}
+
+void MbedLogger::resetReplyPacket() {
+ _confirmed_packet_number = 0;
+}
+
+void MbedLogger::openNewMissionFile() {
+ pc().printf("Opening Mission file (sequence.txt) for reception.\n\r");
+ string file_name_string = _file_system_string + "sequence.txt";
+
+ pc().printf("openNewMissionFile: %s\n\r", file_name_string.c_str());
+
+ _fp = fopen(file_name_string.c_str(), "w");
+}
+
+void MbedLogger::setDataCounter(int input_counter) {
+ _transmit_counter = input_counter;
+}
+
+void MbedLogger::closeIncompleteFile() {
+ fprintf(_fp, "TRANSMISSION INTERRUPTED!"); //write this warning to the file
+ closeLogFile(); //close file
+}
+
+void MbedLogger::appendLogFile(int current_state, int option) {
+ //option one means write to file
+
+ if (option == 1) {
+ if (!_fp) { //if not present
+ _fp = fopen(_full_file_path_string.c_str(), "a");
+ }
+
+ //record data using the recordData function (takes in the state integer)
+ recordData(current_state);
+ }
+
+ else {
+ closeLogFile();
+ }
+}
+
+void MbedLogger::initializeLogFile() {
+ string file_name_string = _file_system_string + "LOG000.csv";
+
+ //try to open this file...
+ _fp = fopen(file_name_string.c_str(), "r");
+ //closeLogFile();
+
+ //if the file is empty, create this.
+ if (!_fp) {
+ _fp = fopen(file_name_string.c_str(), "w"); //write,print,close
+ 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");
+ closeLogFile();
+ }
+ else
+ closeLogFile(); //close the opened read file
+}
+
+int MbedLogger::fileTransmitState() {
+ return _file_transmission_state;
+}
+
+int MbedLogger::calcCrcOneString (string input_string) {
+ 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};
+
+ int crc = 0;
+ for (unsigned int i = 0; i < input_string.length(); i++) {
+ //convert each character to an integer
+ int character_to_integer = input_string[i]; //correct
+
+ crc = (crc_table[(character_to_integer ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
+ }
+
+ //pc().printf("DEBUG: calcCrcOne string length: %d crc: %d\n\r", input_string.length(), crc/256);
+
+ return crc / 256; //second-to-last byte
+}
+
+int MbedLogger::calcCrcTwoString (string input_string) {
+ 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};
+
+ int crc = 0;
+ for (unsigned int i = 0; i < input_string.length(); i++) {
+ //convert each character to an integer
+ int character_to_integer = input_string[i]; //correct
+
+ crc = (crc_table[(character_to_integer ^ crc) & 0xff] ^ (crc >> 8)) & 0xFFFF;
+ }
+
+ //pc().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_string.length(), crc % 256);
+
+ return crc % 256; //last byte
+}
+
+int MbedLogger::testGetFileSize() {
+ string file_name_string = _file_system_string + "LOG000.csv";
+
+ _fp = fopen(file_name_string.c_str(), "rb"); //open the file for reading as a binary file
+
+ fseek(_fp, 0, SEEK_END); //SEEK_END is a constant in cstdio (end of the file)
+ unsigned int file_size = ftell(_fp); //For binary streams, this is the number of bytes from the beginning of the file.
+ fseek(_fp, 0, SEEK_SET); //SEEK_SET is hte beginning of the file, not sure this is necessary
+
+ closeLogFile(); //can probably just close the file pointer and not worry about position
+
+ pc().printf("(%s) LOG000.csv file size is %d\n\r", _file_system_string.c_str(), file_size);
+
+ if (file_size == 0)
+ createEmptyLog(); //this is not actually a completely empty log
+
+ return file_size;
+
+ // http://www.cplusplus.com/reference/cstdio/ftell/
+ // https://os.mbed.com/questions/1260/How-to-read-the-LocalFileSystem-filesize/
+}
+
+void MbedLogger::createEmptyLog() {
+ string file_name_string = _file_system_string + "LOG000.csv";
+
+ _fp = fopen(file_name_string.c_str(), "w");
+ fprintf(_fp, "EMPTY LOG\n"); //just write this string to the log (processing needs a file size that is not zero)
+ closeLogFile();
+}
+
+int MbedLogger::getFileSize(string filename) {
+ // fixed the const char * errror:
+ // https://stackoverflow.com/questions/347949/how-to-convert-a-stdstring-to-const-char-or-char
+ 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.
+ //http://www.cplusplus.com/reference/string/string/c_str/
+
+ _fp = fopen(filename.c_str(), "rb"); //open the file for reading as a binary file
+
+ fseek(_fp, 0, SEEK_END); //SEEK_END is a constant in cstdio (end of the file)
+ unsigned int file_size = ftell(_fp); //For binary streams, this is the number of bytes from the beginning of the file.
+ fseek(_fp, 0, SEEK_SET); //SEEK_SET is hte beginning of the file, not sure this is necessary
+
+ closeLogFile(); //can probably just close the file pointer and not worry about position
+
+ pc().printf("%s file size is %d\n\r", filename.c_str(), file_size);
+
+ return file_size;
+}
+
+int MbedLogger::debugFileState() {
+ pc().printf("What is _fp right now? %p\n\r", _fp); //pointer notation
+
+ if (_fp)
+ return 1; //file pointer does exist
+ else
+ return 0; //file pointer does not exist
+}
+
+void MbedLogger::activateTransmitPacket() {
+ _mbed_transmit_loop = true;
+}
+
+void MbedLogger::transmitDataWithTicker() {
+ getNumberOfPacketsInCurrentLog();
+
+ //activate ticker
+ _mbed_transmit_ticker.attach(callback(this, &MbedLogger::activateTransmitPacket), 0.1); // 10 hz ticker
+
+ int transmit_data_counter = 0; //used for timeout
+
+ //transmit data with ticker until complete or times out
+ while(1) {
+ //runs at 10 hz with ticker
+ if (_mbed_transmit_loop) {
+ led4() = !led4(); //flash LED 4
+
+ // transmit_data_counter = checkForTransmitPacket(); // run this until it finishes (function returns an integer)
+ _mbed_transmit_loop = false; // wait until the loop rate timer fires again (TICKER)
+
+ if (transmit_data_counter >= 20) { //was 50
+ _file_transmission = false; //file transmission complete
+ }
+
+ if (!_file_transmission) {
+
+ pc().printf("\n\r(_file_transmission == false) Stopped transmitting?\n\r");
+
+ setDataCounter(0); //reset the counter in the mbed logger
+
+ _mbed_transmit_ticker.detach();
+
+ break; //break out of the while loop when transmission over
+ }
+ }
+ } //end of while loop
+}
+
+void MbedLogger::specifyFileForTransmit(string input_string) {
+ pc().printf("specifyFileForTransmit\n\r");
+
+ string file_string = _file_system_string + input_string;
+
+ pc().printf("file_string is <%s>\n\r", file_string.c_str());
+
+ //open this file to read
+ _fp = fopen(file_string.c_str(), "r");
+
+ //transmit that file
+ transmitDataWithTicker();
+
+ _file_transmission = true;
+}
+
+void MbedLogger::transmitFileFromDirectory( int file_number ) {
+ file_number = file_number + 1; //to get the correct number
+
+ DIR *dir;
+ struct dirent *dp; //dirent.h is the format of directory entries
+ int log_found =0, loop=1; //start file numbers at 1
+ long int temp=0;
+
+// char * char_pointer;
+// char * numstart, *numstop;
+
+ if ( NULL == (dir = opendir( _file_system_string.c_str() )) ) {
+ pc().printf("MBED directory could not be opened\r\n");
+ }
+ else
+ {
+ while ( NULL != (dp = readdir( dir )) )
+ {
+ pc().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
+
+ //process current file if it matches the file number
+ if (file_number == loop) {
+ char * current_file_name = dp->d_name; //pointer to this char array
+
+ specifyFileForTransmit(current_file_name);
+
+ break;
+ }
+
+ loop++;
+ }
+ }
+}
+
+void MbedLogger::accessMbedDirectory() {
+ printMbedDirectory();
+
+ pc().printf("Type in the number of the file you want to transmit.\n\r");
+
+ char message[42];
+
+ pc().scanf("%41s", message);
+
+ pc().printf("Input received!\n\r");
+
+ //check if char array is an integer
+ char* conversion_pointer;
+ long converted = strtol(message, &conversion_pointer, 10);
+
+ if (*conversion_pointer) {
+ //conversion failed because the input was not a number
+ pc().printf("NOT A VALID FILE NUMBER!\n\r");
+ }
+ else {
+ //conversion worked!
+ pc().printf("You chose file number: %d\n\r", converted);
+
+ // transmit the file
+ transmitFileFromDirectory(converted);
+ }
+}
+
+void MbedLogger::closeLogFile() {
+ if (_fp == NULL){
+ pc().printf("MbedLogger: (%s) LOG FILE WAS ALREADY CLOSED!\n\r", _file_system_string.c_str());
+ }
+
+ else {
+ pc().printf("MbedLogger: (%s) CLOSING LOG FILE!\n\r", _file_system_string.c_str());
+
+ //close file
+ fclose(_fp);
+
+ _fp = NULL; //set pointer to zero
+ }
+}
+
+void MbedLogger::closeSDLogFile() {
+ if (_fp == NULL){
+ pc().printf("MbedLogger: (%s) SD LOG FILE WAS ALREADY CLOSED!\n\r", _SD_file_name_string.c_str());
+ }
+
+ else {
+ pc().printf("MbedLogger: (%s) CLOSING SD LOG FILE!\n\r", _SD_file_name_string.c_str());
+
+ //close file
+ fclose(_fp);
+
+ _fp = NULL; //set pointer to zero
+ }
+}
+
+void MbedLogger::activateReceivePacket() {
+ _mbed_receive_loop = true;
+}
+
+void MbedLogger::receiveMissionDataWithTicker() {
+ openNewMissionFile(); //sequence.txt file opened
+
+ _mbed_receive_ticker.attach(callback(this, &MbedLogger::activateReceivePacket), 0.1);
+
+ pc().printf("\n\r02/09/2018 MbedLogger receiveMissionData Beginning to receive sequence data...\n\r");
+
+ resetReplyPacket(); //reset the reply packet
+
+ //idea for stopping this if data not being received
+ int current_packet_number = 0;
+ int last_packet_number = -1;
+ int break_transmission = 0;
+
+ while(1) {
+ //runs at 10 hz
+ if (_mbed_receive_loop) {
+ if (!checkForIncomingData()) { // run this until it finishes
+ //when you complete data reception, this will become false
+ pc().printf("\n\rMbedLogger: Data RECEPTION complete.\n\r");
+ _mbed_receive_ticker.detach();
+ break;
+ }
+ else {
+ //check if you keep getting the same thing
+ current_packet_number = sendReply();
+
+ //pc().printf("DEBUG: current packet number %d (last packet number %d) \n\r", current_packet_number, last_packet_number); //debug
+
+ //let this count up a few times before it exits
+ if (current_packet_number == last_packet_number) {
+ break_transmission++;
+
+ //break transmission after 50 failed attempts (was 100)
+ if (break_transmission >= 50) {
+ closeIncompleteFile(); //close the file
+ _mbed_receive_ticker.detach();
+ pc().printf("MbedLogger: TRANSMISSION INTERRUPTED!\n\r");
+ break;
+ }
+ }
+ else
+ last_packet_number = current_packet_number;
+ }
+ _mbed_receive_loop = false; // wait until the loop rate timer fires again
+ }
+ }
+}
+
+int MbedLogger::getFilePointerState() {
+ if (_fp)
+ return 1; //file is not null (has an address), open
+ else
+ return 0; //file is null, closed
+}
+
+void MbedLogger::testToggleFilePointer() {
+ pc().printf("testToggleFilePointer\n\r");
+
+ string file_name_string = _file_system_string + "example99.txt";
+
+ if (_fp)
+ _fp = NULL;
+ else
+ _fp = fopen(file_name_string.c_str(), "w");
+}
+
+int MbedLogger::getNumberOfPackets() {
+ return _total_number_of_packets;
+}
+
+bool MbedLogger::isTransmissionComplete() {
+ return _file_transmission_complete;
+}
+
+int MbedLogger::currentPacketNumber() {
+ return _packet_number;
+}
\ No newline at end of file