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:
- 63:6cb0405fc6e6
- Parent:
- 62:d502889e74f1
- Child:
- 67:c86a4b464682
--- a/MbedLogger/MbedLogger.cpp Mon Jun 18 14:45:37 2018 +0000
+++ b/MbedLogger/MbedLogger.cpp Mon Jun 18 21:02:55 2018 +0000
@@ -14,6 +14,8 @@
_total_number_of_packets = 0;
_mbed_transmit_loop = false;
_received_filename = "";
+
+ _log_file_line_counter = 0; //used to set timer in finite state machine based on size of log
}
//this function has to be called for the time to function correctly
@@ -66,11 +68,18 @@
else if (current_state == KEYBOARD)
string_state = "KEYBOARD";
else if (current_state == CHECK_TUNING)
- string_state = "CHECK_TUNING";
- else if (current_state == PITCH_TUNER_DEPTH)
- string_state = "PITCH_TUNER_DEPTH";
- else if (current_state == PITCH_TUNER_RUN)
- string_state = "PITCH_TUNER_RUN";
+ string_state = "CHECK_TUNING";
+ else if (current_state == POSITION_DIVE)
+ string_state = "POSITION_DIVE";
+ else if (current_state == POSITION_RISE)
+ string_state = "POSITION_RISE";
+
+
+
+// else if (current_state == PITCH_TUNER_DEPTH)
+// string_state = "PITCH_TUNER_DEPTH";
+// else if (current_state == PITCH_TUNER_RUN)
+// string_state = "PITCH_TUNER_RUN";
//record the string state, integer state, and then the data
fprintf(_fp, "%s,%d,",string_state.c_str(),current_state);
@@ -126,7 +135,7 @@
//open the file for reading
string file_name_string = _file_system_string + "LOG000.csv";
- int log_file_line_counter = 0;
+ _log_file_line_counter = 0;
_fp = fopen(file_name_string.c_str(), "r");
@@ -138,7 +147,7 @@
// read in the line and make sure it was successful
if (fgets(buffer,500,_fp) != NULL) { //stops at new line
pc().printf("%s\r",buffer);
- log_file_line_counter++;
+ _log_file_line_counter++;
}
}
@@ -147,7 +156,7 @@
//close the file
closeLogFile();
- pc().printf("\n\rLog file closed. Lines in log file: %d.\n\r", log_file_line_counter);
+ pc().printf("\n\rLog file closed. Lines in log file: %d.\n\r", _log_file_line_counter);
}
void MbedLogger::openFileForTransmit() {
@@ -231,7 +240,9 @@
// REACH ONE CHAR AT A TIME (EACH ITERATION OF STATE MACHINE...)
-void MbedLogger::readTransmitPacketOneChar() {
+void MbedLogger::readTransmitPacketOneChar() {
+ led2() = !led2();
+
static int transmit_state = HEADER_117; //state in switch statement
int incoming_byte = -1; //reset each time a character is read
int requested_packet_number = -1; //reset each time a character is read
@@ -239,92 +250,95 @@
static int transmit_crc_one = 0; //hold crc values until they're reset with calculations
static int transmit_crc_two = 0;
- incoming_byte = pc().getc();
- switch(transmit_state) {
- case HEADER_117:
- //continue processing
- if (incoming_byte == 30){ //1E
- transmit_state = HEADER_101;
- }
- //did not receive byte 1
- else {
- transmit_state = HEADER_117; //go back to checking the first packet
- }
- break;
-
- case HEADER_101:
- if(incoming_byte == 31) { //1F
- transmit_state = TRANSMIT_PACKET_1;
- }
- 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;
- }
- break;
+ while (pc().readable()) {
+ incoming_byte = pc().getc();
+
+ led3() = !led3();
- case TRANSMIT_PACKET_2:
+ switch(transmit_state) {
+ case HEADER_117:
+ //continue processing
+ if (incoming_byte == 30){ //1E
+ transmit_state = HEADER_101;
+ }
+ //did not receive byte 1
+ else {
+ transmit_state = HEADER_117; //go back to checking the first packet
+ }
+ break;
+
+ case HEADER_101:
+ if(incoming_byte == 31) { //1F
+ transmit_state = TRANSMIT_PACKET_1;
+ }
+ break;
- if (incoming_byte >= 0) {
- input_packet[3] = incoming_byte;
- //_reply_byte4 = incoming_byte;
- }
- transmit_state = PACKET_CRC_ONE;
-
- break;
-
- case (PACKET_CRC_ONE):
- transmit_crc_one = calcCrcOneArray(input_packet, 4); //calc CRC 1 from the input packet (size 4)
-
- if (incoming_byte == transmit_crc_one) {
- transmit_state = PACKET_CRC_TWO;
- }
-
- else
- transmit_state = HEADER_117;
- //or state remains the same?
-
- break;
-
- case (PACKET_CRC_TWO):
- transmit_state = HEADER_117;
- transmit_crc_two = calcCrcTwoArray(input_packet, 4); //calc CRC 2 from the input packet (size 4)
-
- //check if CRC TWO is correct (then send full packet)
- if (incoming_byte == transmit_crc_two) {
- requested_packet_number = input_packet[2] * 256 + input_packet[3]; //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;
+ 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;
+ }
+ break;
+
+ case TRANSMIT_PACKET_2:
- // 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();
- }
+ if (incoming_byte >= 0) {
+ input_packet[3] = incoming_byte;
+ //_reply_byte4 = incoming_byte;
+ }
+ transmit_state = PACKET_CRC_ONE;
- _previous_reply_byte = requested_packet_number; //RECORD THIS BYTE to prevent new packets being created
+ break;
- transmitDataPacket(); //continuously transmit current packet until it tells you to do the next packet (response from Python program)
+ case (PACKET_CRC_ONE):
+ transmit_crc_one = calcCrcOneArray(input_packet, 4); //calc CRC 1 from the input packet (size 4)
+
+ if (incoming_byte == transmit_crc_one) {
+ transmit_state = PACKET_CRC_TWO;
}
else
- transmitDataPacket(); //if you get the same packet request, send the same packet
+ transmit_state = HEADER_117;
+ //or state remains the same?
- } //end of checksum (incoming_byte) if statement
+ break;
- break;
- } //switch statement complete
-
- //led1() = !led1();
+ case (PACKET_CRC_TWO):
+ transmit_state = HEADER_117;
+ transmit_crc_two = calcCrcTwoArray(input_packet, 4); //calc CRC 2 from the input packet (size 4)
+
+ //check if CRC TWO is correct (then send full packet)
+ if (incoming_byte == transmit_crc_two) {
+ requested_packet_number = input_packet[2] * 256 + input_packet[3]; //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;
+
+ // 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
+
+ transmitDataPacket(); //continuously transmit current packet until it tells you to do the next packet (response from Python program)
+ }
+
+ else
+ transmitDataPacket(); //if you get the same packet request, send the same packet
+
+ } //end of checksum (incoming_byte) if statement
+
+ break;
+ } //switch statement complete
+ } //while statement complete
}
int MbedLogger::readTransmitPacket() {
@@ -633,7 +647,6 @@
// first confirm that the checksum is correct
if ((calc_crc_one == checksum_one) and (calc_crc_two == checksum_two)) {
- led2() = !led2();
// CHECKSUM CORRECT & get the filename from the first packet (check that you receive first packet)
if (receive_packet_number == 0) {
char temp_char[receive_packet_size+1]; //temp array for memcpy
@@ -744,7 +757,7 @@
case HEADER_117:
//continue processing
if (incoming_byte == 117){
- led2() = !led2();
+ //had led two here
process_state = HEADER_101;
pc().printf("DEBUG: Case 117\n\r");
}
@@ -777,15 +790,15 @@
pc().printf("DEBUG: COMMAND: [%s]\n\r", command_string.c_str());
// COMMAND
- if ( command_string.find("CT") == 0 ) { //find returns the position of the string
- stateMachine().setFSMCommand(CHECK_TUNING);
- }
- else if ( command_string.find("FN") == 0 ) { //find returns the position of the string
- stateMachine().setFSMCommand(FIND_NEUTRAL);
- }
- else if ( command_string.find("DV") == 0 ) { //find returns the position of the string
- stateMachine().setFSMCommand(DIVE);
- }
+// if ( command_string.find("CT") == 0 ) { //find returns the position of the string
+// stateMachine().setFSMCommand(CHECK_TUNING);
+// }
+// else if ( command_string.find("FN") == 0 ) { //find returns the position of the string
+// stateMachine().setFSMCommand(FIND_NEUTRAL);
+// }
+// else if ( command_string.find("DV") == 0 ) { //find returns the position of the string
+// stateMachine().setFSMCommand(DIVE);
+// }
command_string = "";
@@ -1364,7 +1377,8 @@
float depth_value = depthLoop().getPosition();
float pitch_value = imu().getPitch();
float heading_value = imu().getHeading();
- float timer_value = stateMachine().getTimer();
+ //float timer_value = stateMachine().getTimer();
+ float timer_value = 123.123;
sprintf(hex_char_depth, "%08X" , *(unsigned int*)&depth_value);
sprintf(hex_char_pitch, "%08X" , *(unsigned int*)&pitch_value);
@@ -1484,4 +1498,8 @@
transmitDataPacket();
+}
+
+int MbedLogger::getLogSize() {
+ return _log_file_line_counter;
}
\ No newline at end of file