Diff: ConfigFileIO/ConfigFileIO.cpp

Revision:

21:38c8544db6f4

Parent:

17:7c16b5671d0e

Child:

38:83d06c294807

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ConfigFileIO/ConfigFileIO.cpp	Wed Nov 22 23:04:11 2017 +0000
@@ -0,0 +1,241 @@
+#include "ConfigFileIO.hpp"
+#include "StaticDefs.hpp"
+
+//configuration file io, both to read, set, and save
+
+ConfigFileIO::ConfigFileIO() {
+}
+
+void ConfigFileIO::savePitchData(float p_gain, float i_gain, float d_gain, int batt_zeroOffset) {   
+    ConfigFile write_pitch_txt;   //write to the config file
+    
+    char PGain_buffer[128];
+    sprintf(PGain_buffer,"# pitch outer loop parameters\n\n#Gains\nPGain");
+    
+    char string_pgain[128];  
+    sprintf(string_pgain, "%f", p_gain);
+    write_pitch_txt.setValue(PGain_buffer, string_pgain);
+    
+    char string_igain[128];  
+    sprintf(string_igain, "%f", i_gain);
+    write_pitch_txt.setValue("IGain", string_igain);
+    
+    char string_dgain[128];  
+    sprintf(string_dgain, "%f", d_gain);
+    write_pitch_txt.setValue("DGain", string_dgain);
+            
+    write_pitch_txt.setValue("\n#Pitch sensor filter parameters\nfilterWn", "6.0");
+    write_pitch_txt.setValue("deadband", "0.5");
+    
+    char string_zeroOffset[128];
+    sprintf(string_zeroOffset, "%d", batt_zeroOffset);
+    //bce setting was 41 mm during LASR experiments
+    write_pitch_txt.setValue("\n#Offset for neutral (default: 41)\nzeroOffset", string_zeroOffset);
+    
+    //SAVE THE DATA!
+    pc().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
+    
+    if (!write_pitch_txt.write("/local/pitch.txt")) {
+        pc().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
+    }
+    else {
+        pc().printf("\n\rFile pitch.txt successful written.\n\r");
+    } 
+}
+
+void ConfigFileIO::saveDepthData(float p_gain, float i_gain, float d_gain, int bce_zeroOffset) {       
+    ConfigFile write_depth_txt;   //write to the config file
+    
+    char PGain_buffer[128];
+    sprintf(PGain_buffer,"# depth outer loop parameters\n\n#Gains\nPGain");
+    
+    char string_pgain[128];  
+    sprintf(string_pgain, "%f", p_gain);
+    write_depth_txt.setValue(PGain_buffer, string_pgain);
+    
+    char string_igain[128];  
+    sprintf(string_igain, "%f", i_gain);
+    write_depth_txt.setValue("IGain", string_igain);
+    
+    char string_dgain[128];  
+    sprintf(string_dgain, "%f", d_gain);
+    write_depth_txt.setValue("DGain", string_dgain);
+            
+    write_depth_txt.setValue("\n#Depth sensor filter parameters\nfilterWn", "6.0");
+    write_depth_txt.setValue("deadband", "0.5");
+    
+    char string_zeroOffset[128];
+    sprintf(string_zeroOffset, "%d", bce_zeroOffset);
+    //bce setting was 240 mm during LASR experiments
+    write_depth_txt.setValue("\n#Offset for neutral (default: 240)\nzeroOffset", string_zeroOffset);
+    
+    //SAVE THE DATA!
+    pc().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
+    
+    if (!write_depth_txt.write("/local/depth.txt")) {
+        pc().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
+    }
+    else {
+        pc().printf("\n\rFile depth.txt successful written.\n\r");
+    } 
+}
+
+int ConfigFileIO::load_BCE_config() {
+    ConfigFile cfg;
+    int count = 0;
+    if (!cfg.read("/local/bce.txt")) {
+            error("File Read Error");
+    }
+    char value[BUFSIZ];
+ 
+    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
+        bce().setControllerP(atof(value));
+        count++;
+    }
+    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
+        bce().setControllerI(atof(value));
+        count++;
+    }
+    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
+        bce().setControllerD(atof(value));
+        count++;
+    }
+    if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
+        bce().setZeroCounts(atoi(value));
+        count++;
+    }
+    if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
+        bce().setTravelLimit(atof(value));
+        count++;
+    }
+    if (cfg.getValue("slope", &value[0], sizeof(value))) {
+        bce().setPotSlope(atof(value));
+        count++;
+    }
+    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
+        bce().setFilterFrequency(atof(value));
+        count++;
+    }
+    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
+        bce().setDeadband(atof(value));
+        count++;
+    }
+    
+    return count;     
+}
+
+int ConfigFileIO::load_BATT_config() {
+    ConfigFile cfg;
+    int count = 0;
+    if (!cfg.read("/local/batt.txt")) {
+            error("File Read Error");
+    }
+    char value[BUFSIZ];
+ 
+    
+    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
+        batt().setControllerP(atof(value));
+        count++;
+    }
+    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
+        batt().setControllerI(atof(value));
+        count++;
+    }
+    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
+        batt().setControllerD(atof(value));
+        count++;
+    }
+    if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
+        batt().setZeroCounts(atoi(value));
+        count++;
+    }
+    if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
+        batt().setTravelLimit(atof(value));
+        count++;
+    }
+    if (cfg.getValue("slope", &value[0], sizeof(value))) {
+        batt().setPotSlope(atof(value));
+        count++;
+    }
+    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
+        batt().setFilterFrequency(atof(value));
+        count++;
+    }
+    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
+        batt().setDeadband(atof(value));
+        count++;
+    }
+    
+    return count;     
+}
+
+int ConfigFileIO::load_DEPTH_config() {
+    ConfigFile cfg;
+    int count = 0;
+    if (!cfg.read("/local/depth.txt")) {
+            error("File Read Error");
+    }
+    char value[BUFSIZ];
+    
+    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
+        depthLoop().setControllerP(atof(value));
+        count++;
+    }
+    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
+        depthLoop().setControllerI(atof(value));
+        count++;
+    }
+    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
+        depthLoop().setControllerD(atof(value));
+        count++;
+    }
+    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
+        depthLoop().setFilterFrequency(atof(value));
+        count++;
+    }
+    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
+        depthLoop().setDeadband(atof(value));
+        count++;
+    }
+    if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
+        depthLoop().setOutputOffset(atof(value));
+        count++;
+    }    
+    return count;
+}
+
+int ConfigFileIO::load_PITCH_config() {
+    ConfigFile cfg;
+    int count = 0;
+    if (!cfg.read("/local/pitch.txt")){
+            error("File Read Error");
+    }
+    char value[BUFSIZ];
+    
+    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
+        pitchLoop().setControllerP(atof(value));
+        count++;
+    }
+    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
+        pitchLoop().setControllerI(atof(value));
+        count++;
+    }
+    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
+        pitchLoop().setControllerD(atof(value));
+        count++;
+    }
+    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
+        pitchLoop().setFilterFrequency(atof(value));
+        count++;
+    }
+    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
+        pitchLoop().setDeadband(atof(value));
+        count++;
+    }
+    
+    if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
+        pitchLoop().setOutputOffset(atof(value));
+        count++;
+    }     
+    return count;
+}
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