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:
- 74:d281aaef9766
- Parent:
- 73:f6f378311c8d
- Child:
- 76:c802e1da4179
--- a/MbedLogger/MbedLogger.cpp Mon Jul 30 16:48:48 2018 +0000
+++ b/MbedLogger/MbedLogger.cpp Tue Aug 14 21:06:48 2018 +0000
@@ -17,23 +17,20 @@
_log_file_line_counter = 0; //used to set timer in finite state machine based on size of log
-//NEXT VERSION WILL ELIMINATE LENGTH REQUIREMENT
- //_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";
-
-//NEW ALTIMETER READINGS!
-
- _heading_string = "state_string,state_number,timer_sec,depth_cmd,depth_ft,pitch_cmd,pitch_deg,rudder_cmd_deg,heading_deg,bce_cmd,bce_mm,batt_cmd,batt_mm,pitch_rate_degs,depth_rate_fps,system_amps,system_volts,altimeter_or_intPSI,BCE_p,i,d,BATT_p,i,d,DEPTH_p,i,d,PITCH_p,i,d\n";
-
+ //heading string is 254 bytes long, FIXED LENGTH
+ _heading_string = "StateStr,St#,TimeSec,DepthCmd,DepthFt,PitchCmd,PitchDeg,RudderPWM,RudderCmdDeg,HeadDeg,bceCmd,bce_mm,battCmd,batt_mm,PitchRateDegSec,depth_rate_fps,SystemAmps,SystemVolts,AltChRd,Int_PSI,BCE_p,i,d,BATT_p,i,d,DEPTH_p,i,d,fq,db,PITCH_p,i,d,HEAD_p,i,d,fq,db\n";
_transmit_packet_num = 0;
_fsm_transmit_complete = false;
_end_transmit_packet = false;
+
+ _end_sequence_transmission = false;
}
//this function has to be called for the time to function correctly
void MbedLogger::setLogTime() {
- pc().printf("\n%s log time set.\n\r", _file_system_string.c_str());
+ xbee().printf("\n%s log time set.\n\r", _file_system_string.c_str());
set_time(1518467832); // Set RTC time to Mon, 12 FEB 2018 15:37
}
@@ -45,13 +42,14 @@
}
void MbedLogger::recordData(int current_state) {
- int data_log_int = mbedLogger().getSystemTime(); //read the system timer to get unix timestamp
+ int data_log_time = mbedLogger().getSystemTime(); //read the system timer to get unix timestamp
- _data_log[1] = depthLoop().getCommand(); //depth command
- _data_log[2] = depthLoop().getPosition(); //depth reading (filtered depth)
- _data_log[3] = pitchLoop().getCommand(); //pitch command
- _data_log[4] = pitchLoop().getPosition(); //pitch reading (filtered pitch)
- _data_log[5] = rudder().getPosition_deg(); //rudder command
+ _data_log[0] = depthLoop().getCommand(); //depth command
+ _data_log[1] = depthLoop().getPosition(); //depth reading (filtered depth)
+ _data_log[2] = pitchLoop().getCommand(); //pitch command
+ _data_log[3] = pitchLoop().getPosition(); //pitch reading (filtered pitch)
+ _data_log[4] = rudder().getSetPosition_pwm(); //rudder command PWM
+ _data_log[5] = rudder().getSetPosition_deg(); //rudder command DEG
_data_log[6] = headingLoop().getPosition(); //heading reading (filtered heading)
_data_log[7] = bce().getSetPosition_mm(); //BCE command
@@ -63,26 +61,34 @@
_data_log[13] = sensors().getCurrentInput(); // i_in
_data_log[14] = sensors().getVoltageInput(); // v_in
- _data_log[15] = sensors().getInternalPressurePSI(); // int_press_PSI
+ _data_log[15] = sensors().getAltimeterChannelReadings(); // Altimeter Channel Readings
+ _data_log[16] = sensors().getInternalPressurePSI(); // int_press_PSI
- //BCE_p,i,d
- _data_log[16] = bce().getControllerP();
- _data_log[17] = bce().getControllerI();
- _data_log[18] = bce().getControllerD();
+ //BCE_p,i,d,freq,deadband
+ _data_log[17] = bce().getControllerP();
+ _data_log[18] = bce().getControllerI();
+ _data_log[19] = bce().getControllerD();
+
+ _data_log[20] = batt().getControllerP();
+ _data_log[21] = batt().getControllerI();
+ _data_log[22] = batt().getControllerD();
- _data_log[19] = batt().getControllerP();
- _data_log[20] = batt().getControllerI();
- _data_log[21] = batt().getControllerD();
+ _data_log[23] = depthLoop().getControllerP();
+ _data_log[24] = depthLoop().getControllerI();
+ _data_log[25] = depthLoop().getControllerD();
+ _data_log[26] = depthLoop().getFilterFrequency();
+ _data_log[27] = depthLoop().getDeadband();
- _data_log[22] = depthLoop().getControllerP();
- _data_log[23] = depthLoop().getControllerI();
- _data_log[24] = depthLoop().getControllerD();
+ _data_log[28] = pitchLoop().getControllerP();
+ _data_log[29] = pitchLoop().getControllerI();
+ _data_log[30] = pitchLoop().getControllerD();
- _data_log[25] = pitchLoop().getControllerP();
- _data_log[26] = pitchLoop().getControllerI();
- _data_log[27] = pitchLoop().getControllerD();
-
- //check what the current state is and create that string
+ _data_log[31] = headingLoop().getControllerP();
+ _data_log[32] = headingLoop().getControllerI();
+ _data_log[33] = headingLoop().getControllerD();
+ _data_log[34] = headingLoop().getFilterFrequency();
+ _data_log[35] = headingLoop().getDeadband();
+
string string_state;
if (current_state == SIT_IDLE)
string_state = "SIT_IDLE";
@@ -112,26 +118,22 @@
string_state = "POSITION_RISE";
else if (current_state == TX_MBED_LOG)
string_state = "TX_MBED_LOG";
- else if (current_state == RECEIVE_SEQUENCE)
+ else if (current_state == RX_SEQUENCE)
string_state = "RECEIVE_SEQUENCE";
-
- string blank_space = ""; //to get consistent spacing in the file
+ string blank_space = ""; //to get consistent spacing in the file (had a nonsense char w/o this)
//record the string state, integer state, and then the data
-
- //_heading_string is 254 characters long
-
- //packet size is 254 characters long
-
- //make function that checks length of header versus string below, add padding
+ //_heading_string is 254 characters long, packet size is 254 characters long (matches _heading_string)
- fprintf(_fp, "%16s,%.2d,",string_state.c_str(),current_state);
- fprintf(_fp, "%11d,",data_log_int); //length 10 //right here
- fprintf(_fp, "%6.1f,%6.1f,%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,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f%41s\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],_data_log[11],_data_log[12],_data_log[13],_data_log[14],_data_log[15],
- _data_log[16],_data_log[17],_data_log[18],_data_log[19],_data_log[20],_data_log[21],_data_log[22],_data_log[23],_data_log[24],_data_log[25],_data_log[26],_data_log[27],blank_space.c_str());
-
+ fprintf(_fp, "%16s,%.2d,%10d,",string_state.c_str(),current_state,data_log_time);
+ //%5.0f altimeter ch reading was for spacing (it's 0 to 4096)
+ //be careful with the spacing, the int psi was printing out too many decimal places (now it's %6.2f)
+ fprintf(_fp, "%5.1f,%5.1f,%6.1f,%6.1f,%4.0f,%4.0f,%6.1f,%5.1f,%5.1f,%5.1f,%5.1f,%6.1f,%6.1f,%6.3f,%6.2f,%5.0f,%6.2f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%4.1f,%4.1f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%4.1f,%4.1f\n",
+ _data_log[0],_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],_data_log[11],_data_log[12],_data_log[13],_data_log[14],_data_log[15],
+ _data_log[16],_data_log[17],_data_log[18],_data_log[19],_data_log[20],_data_log[21],_data_log[22],_data_log[23],_data_log[24],_data_log[25],_data_log[26],_data_log[27],_data_log[28],_data_log[29],_data_log[30],
+ _data_log[31],_data_log[32],_data_log[33],_data_log[34],_data_log[35]);
+
//each line in the file is 160 characters long text-wise, check this with a file read
}
@@ -145,10 +147,10 @@
char * numstart;
//char *numstop;
- pc().printf("\n\rPrinting out the directory of device %s\n\r", _file_system_string.c_str());
+ xbee().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");
+ xbee().printf("MBED directory could not be opened\r\n");
}
else
{
@@ -171,7 +173,7 @@
}
else
log_found=0;
- pc().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
+ xbee().printf( "%d. %s (log file: %d, %d)\r\n", loop, dp->d_name,log_found,temp);
loop++;
}
@@ -190,11 +192,11 @@
char buffer[500];
//read the file line-by-line and print that to the screen
- pc().printf("\n\rCURRENT MBED LOG FILE /local/Log%03d.csv:\n\n\r",_file_number);
+ xbee().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) { //stops at new line
- pc().printf("%s\r",buffer);
+ xbee().printf("%s\r",buffer);
_log_file_line_counter++;
}
}
@@ -204,11 +206,11 @@
//close the file
closeLogFile();
- pc().printf("\n\rLog file closed. Lines in log file: %d.\n\r", _log_file_line_counter);
+ xbee().printf("\n\rLog file closed. Lines in log file: %d.\n\r", _log_file_line_counter);
}
void MbedLogger::blastData() {
- pc().printf("blastData FUNCTION\n\r");
+ xbee().printf("blastData FUNCTION\n\r");
//OPEN FILE FOR READING
@@ -222,7 +224,7 @@
if (!feof(_fp)) { //check for end of file
//based on the internal packet number of the class //createDataPacket //transmit data packet
transmitPacketNumber(_packet_number);
- pc().printf("\r"); // for proper spacing
+ xbee().printf("\r"); // for proper spacing
_packet_number++;
}
@@ -235,17 +237,7 @@
//CLOSE THE FILE
closeLogFile();
- pc().printf("\n\rblastData: Log file closed. %d.\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;
+ xbee().printf("\n\rblastData: Log file closed. %d.\n\r");
}
void MbedLogger::createDataPacket() {
@@ -266,7 +258,7 @@
_data_packet.push_back(_current_line_length);
- //pc().printf("DEBUG: Current line buffer: %s\n\r", _line_buffer); //debug
+ //xbee().printf("DEBUG: Current line buffer: %s\n\r", _line_buffer); //debug
//DATA FROM LINE READ (read string character by chracter)
for (int i = 0; i < _current_line_length; i++) {
@@ -303,7 +295,7 @@
_data_packet.push_back(line_length_sent);
- //pc().printf("DEBUG: Current line buffer: %s\n\r", _line_buffer); //debug
+ //xbee().printf("DEBUG: Current line buffer: %s\n\r", _line_buffer); //debug
//DATA FROM LINE READ (read string character by chracter)
for (int i = 0; i < line_length_sent; i++) {
@@ -320,7 +312,7 @@
_data_packet.push_back(crc_one);
_data_packet.push_back(crc_two);
- //pc().printf("debug createDataPacket(char line_buffer_sent[], int line_length_sent)\n\r");
+ //xbee().printf("debug createDataPacket(char line_buffer_sent[], int line_length_sent)\n\r");
}
//should i save it as a string and transmit the string? next iteration maybe
@@ -328,7 +320,7 @@
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
+ xbee().putc(*_it); //send integers over serial port one byte at a time
}
}
@@ -374,7 +366,7 @@
//based on the internal packet number of the class //createDataPacket //transmit data packet
transmitPacketNumber(_packet_number);
- pc().printf("\r"); // for proper spacing
+ xbee().printf("\r"); // for proper spacing
_packet_number++;
@@ -398,7 +390,7 @@
//write over the internal _line_buffer //start from the beginning and go to this position
fread(_line_buffer, 1, line_size, _fp); //read the line that is exactly 160 characters long
- //pc().printf("Debug (transmitPacketNumber): line_buffer <<%s>> (line size: %d)\n\r", line_buffer,line_size);
+ //xbee().printf("Debug (transmitPacketNumber): line_buffer <<%s>> (line size: %d)\n\r", line_buffer,line_size);
// createDataPacket requires _packet_number, _total_number_of_packets, _current_line_length (data packet size)
// uses char _line_buffer[256] variable to hold characters read from the file
@@ -415,7 +407,7 @@
//receive correct data packet from python, immediately send a transmit packet from the MBED
void MbedLogger::transmitOnePacket() {
- pc().printf("transmitOnePacket\n");
+ xbee().printf("transmitOnePacket\n");
static int transmit_state = HEADER_117; //state in switch statement
//int incoming_byte = -1; //reset each time a character is read
@@ -431,8 +423,8 @@
int req_packet_number = -1;
while (1) {
- incoming_byte[bytes_received] = pc().getc();
- pc().printf("<%d> ", incoming_byte[bytes_received]);
+ incoming_byte[bytes_received] = xbee().getc();
+ xbee().printf("<%d> ", incoming_byte[bytes_received]);
bytes_received++;
@@ -440,7 +432,7 @@
req_packet_number = incoming_byte[2] * 256 + incoming_byte[3];
- pc().printf("req_packet_number = %d\n\r", req_packet_number);
+ xbee().printf("req_packet_number = %d\n\r", req_packet_number);
bytes_received = 0;
break;
@@ -456,82 +448,129 @@
//receive correct checksum, immediately send this packet
transmitPacketNumber(req_packet_number);
- fclose(_fp);
+ //fclose(_fp);
+ closeLogFile();
}
void MbedLogger::transmitMultiplePackets() {
- pc().printf("transmitMultiplePackets\n");
+ xbee().printf("transmitMultiplePackets\n");
- static int transmit_state = HEADER_117; //state in switch statement
+ //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
- static int input_packet[4]; //changed from char in previous iteration 03/28/2018
+ //int requested_packet_number = -1; //reset each time a character is read
+ static int input_packet; //changed from char in previous iteration 03/28/2018
static int transmit_crc_one = 0; //hold crc values until they're reset with calculations
static int transmit_crc_two = 0;
-
- int incoming_byte[6];
+
+ int current_byte = -1;
static int bytes_received = 0;
int req_packet_number = -1;
-
+//GET TOTAL NUMBER OF PACKETS!
+ getNumberOfPacketsInCurrentLog();
+//GET TOTAL NUMBER OF PACKETS!
+
//open the file
string file_name_string = _file_system_string + "LOG000.csv";
_fp = fopen(file_name_string.c_str(), "r");
-
- while (1) {
+
+ //DEFAULT STATE
+ static int current_state = HEADER_117;
+
+ bool active_loop = true;
+
+ while (active_loop) {
//INCOMING BYTE
- incoming_byte[bytes_received] = pc().getc();
- pc().printf("<%d> ", incoming_byte[bytes_received]);
+ current_byte = xbee().getc();
+
+ //provide the next byte / state
- //EXIT IF YOU RECEIVE...
- if (incoming_byte[bytes_received] == 16) {
- //quick and dirty
- if (pc().getc() == 17) {
- if (pc().getc() == 18) {
- if (pc().getc() == 19) {
- //exit if you get all of these packets hex 10 11 12 13, dec 16 17 18 19
- pc().printf("END TRANSMISSION REQUEST RECEIVED!\n\r");
- break;
- }
+ switch (current_state) {
+ case HEADER_117:
+ //xbee().printf("HEADING 117\n\r");
+ if (current_byte == 0x75) {
+ current_state = HEADER_101;
+ }
+
+
+ else if (current_byte == 0x10) {
+ current_state = END_TX_1;
+ }
+ break;
+ case HEADER_101:
+ //xbee().printf("HEADING 101\n\r");
+ if (current_byte == 0x65) {
+ current_state = PACKET_NO_1;
}
- }
- }
-
- bytes_received++;
-
- if (bytes_received > 5) {
+ break;
+ case PACKET_NO_1:
+ //xbee().printf("PACKET_NO_1\n\r");
+ input_packet = current_byte * 256;
+
+ current_state = PACKET_NO_2;
+ //xbee().printf("PACKET # 1 current byte %d\n\r", current_byte);
+ break;
- req_packet_number = incoming_byte[2] * 256 + incoming_byte[3];
+ case PACKET_NO_2:
+ //xbee().printf("PACKET_NO_2\n\r");
+ input_packet = input_packet + current_byte;
+
+ current_state = PACKET_CRC_ONE;
+ //xbee().printf("PACKET # 2 current byte %d (req packet num: %d)\n\r", current_byte, input_packet);
+ break;
+
+ case PACKET_CRC_ONE:
+ //xbee().printf("PACKET_CRC_ONE\n\r");
+ current_state = PACKET_CRC_TWO;
+ break;
- pc().printf("req_packet_number = %d\n\r", req_packet_number);
+ case PACKET_CRC_TWO:
+ //xbee().printf("PACKET_CRC_TWO\n\r");
+ current_state = HEADER_117;
+ transmitPacketNumber(input_packet);
+ break;
+
+ case END_TX_1:
+ //xbee().printf("END_TX_1\n\r");
+ current_state = END_TX_2;
+ break;
+ case END_TX_2:
+ //xbee().printf("END_TX_2\n\r");
+ current_state = HEADER_117;
+ active_loop = false;
+ break;
- //receive correct checksum, immediately send this packet
- transmitPacketNumber(req_packet_number);
+ default:
+ //reset state
+ //xbee().printf("DEFAULT. HEADER_117\n\r");
+ current_state = HEADER_117; //reset here
+ break;
-
- //reset bytes_received
- bytes_received = 0;
}
}
//CLOSE THE FILE
- fclose(_fp);
+ closeLogFile();
+ xbee().printf("08/05/2018 CLOSE THE LOG FILE\n\r");
+
+ //RESET THE STATE
+ //current_state = HEADER_117;
}
void MbedLogger::checkForPythonTransmitRequest() {
- //pc().printf("checkForPythonTransmitRequest\n");
+ //xbee().printf("checkForPythonTransmitRequest\n");
- if ( pc().readable() ) {
+ if ( xbee().readable() ) {
//PC READABLE DOES NOT WORK HERE?!
led2() = !led2();
led3() = !led3();
- pc().printf("########################\n");
- //pc().printf("%d", pc().getc());
+ xbee().printf("########################\n");
+ //xbee().printf("%d", xbee().getc());
}
// static int transmit_state = HEADER_117; //state in switch statement
@@ -547,9 +586,9 @@
//
// int req_packet_number = -1;
//
-// if (pc().readable()) {
-// incoming_byte[bytes_received] = pc().getc();
-// pc().printf("<%d> ", incoming_byte[bytes_received]);
+// if (xbee().readable()) {
+// incoming_byte[bytes_received] = xbee().getc();
+// xbee().printf("<%d> ", incoming_byte[bytes_received]);
//
// bytes_received++;
//
@@ -557,7 +596,7 @@
//
// req_packet_number = incoming_byte[2] * 256 + incoming_byte[3];
//
-// pc().printf("req_packet_number = %d\n\r", req_packet_number);
+// xbee().printf("req_packet_number = %d\n\r", req_packet_number);
//
// //reset
// bytes_received = 0;
@@ -592,7 +631,7 @@
// case HEADER_101:
// if(incoming_byte == 101) { //"e"
// transmit_state = TRANSMIT_PACKET_1;
-// //pc().printf(" U E \n\r");
+// //xbee().printf(" U E \n\r");
// }
// else {
// transmit_state = HEADER_117;
@@ -609,8 +648,8 @@
// //_reply_byte3 = incoming_byte;
//
// led1() = !led1();
-// //pc().printf(" T P \n\r");
-// //pc().printf("DEBUG: Transmit Packet %d\n\r", incoming_byte);
+// //xbee().printf(" T P \n\r");
+// //xbee().printf("DEBUG: Transmit Packet %d\n\r", incoming_byte);
// }
// break;
//
@@ -673,9 +712,9 @@
static int inside_while_loop = 1;
while (inside_while_loop) {
- if (pc().readable()) { //don't rely on pc readable being open all the time
+ if (xbee().readable()) { //don't rely on pc readable being open all the time
- incoming_byte = pc().getc();
+ incoming_byte = xbee().getc();
switch(transmit_state) {
@@ -727,13 +766,13 @@
//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
+ xbee().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");
+// //xbee().printf("pc not readable \n\r");
// }
//
}
@@ -741,7 +780,7 @@
//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");
+ xbee().printf("DEBUG: (readTransmitPacket) Outside of while loop\n\r");
return false;
}
@@ -749,11 +788,11 @@
int incoming_byte;
- while (pc().readable()) {
- incoming_byte = pc().getc(); //get first byte
+ while (xbee().readable()) {
+ incoming_byte = xbee().getc(); //get first byte
if (incoming_byte == 16) {
- incoming_byte = pc().getc(); //get second byte
+ incoming_byte = xbee().getc(); //get second byte
return true;
}
//quick and dirty
@@ -771,10 +810,10 @@
//check if this actually worked...
if (!_fp) {
- pc().printf("ERROR: Log file could not be opened\n\r");
+ xbee().printf("ERROR: Log file could not be opened\n\r");
}
else {
- pc().printf("Current Log file (LOG000.csv) was opened.\n\r");
+ xbee().printf("Current Log file (LOG000.csv) was opened.\n\r");
}
}
@@ -785,11 +824,11 @@
//check if this actually worked...
if (!_fp) {
- //pc().printf("ERROR: Log file could not be opened\n\r");
+ //xbee().printf("ERROR: Log file could not be opened\n\r");
return false;
}
else {
- //pc().printf("Current Log file (LOG000.csv) was opened.\n\r");
+ //xbee().printf("Current Log file (LOG000.csv) was opened.\n\r");
return true;
}
}
@@ -821,16 +860,19 @@
_total_number_of_packets = size/254;
+ //CLOSE THE FILE
+ closeLogFile();
+
return _total_number_of_packets;
}
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");
+ xbee().printf("\n endTransmissionCloseFile: FILE WAS NOT OPENED!\n\r");
}
else {
- pc().printf("\n endTransmissionCloseFile: FILE FOUND AND CLOSED!\n\r");
+ xbee().printf("\n endTransmissionCloseFile: FILE FOUND AND CLOSED!\n\r");
closeLogFile();
}
@@ -838,7 +880,7 @@
}
void MbedLogger::openWriteFile() {
- pc().printf("Opening file for reception.\n\r");
+ xbee().printf("Opening file for reception.\n\r");
string file_name_string = _file_system_string + "LOG000.csv";
@@ -874,50 +916,50 @@
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");
+ while (xbee().readable() && !data_transmission_complete) {
+ incoming_byte = xbee().getc(); //getc returns an unsigned char cast to an int
+ //xbee().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");
+ //xbee().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");
+ //xbee().printf("DEBUG: State 16 (END_TRANSMISSION)\n\r");
}
else {
process_state = HEADER_117; // ???
- //pc().printf("DEBUG: State Header 117\n\r");
+ //xbee().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");
+ //xbee().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");
+ //xbee().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");
+ //xbee().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");
+ //xbee().printf("DEBUG: Case PACKET_SIZE\n\r");
//write the header stuff to it
char_buffer[0] = 117;
@@ -927,7 +969,7 @@
char_buffer[4] = receive_packet_size;
// tests confirmed that packet number is zero, number of packets is 12, packet size is 12
- //pc().printf("char_buffer 2/3/4: %d %d %d\n\r", receive_packet_number,receive_total_number_packets,receive_packet_size);
+ //xbee().printf("char_buffer 2/3/4: %d %d %d\n\r", receive_packet_number,receive_total_number_packets,receive_packet_size);
//process packet data, future version will append for larger data sizes, 0xFFFF
@@ -936,8 +978,8 @@
serial_timeout = 0;
while (true) {
- if (pc().readable()) {
- char_buffer[i] = pc().getc(); //read all of the data packets
+ if (xbee().readable()) {
+ char_buffer[i] = xbee().getc(); //read all of the data packets
i++;
serial_timeout = 0; //reset the timeout
@@ -949,8 +991,8 @@
// When full data packet is received...
if (i >= receive_packet_size+5) { //cannot do this properly with a for loop
//get checksum bytes
- checksum_one = pc().getc();
- checksum_two = pc().getc();
+ checksum_one = xbee().getc();
+ checksum_two = xbee().getc();
//calculate the CRC from the header and data bytes using _data_packet (vector)
//found out calculating crc with string was dropping empty or null spaces
@@ -964,44 +1006,51 @@
int calc_crc_one = calcCrcOne();
int calc_crc_two = calcCrcTwo();
- //pc().printf("DEBUG: calc crc 1: %d, crc 2: %d\n\r", calc_crc_one, calc_crc_two);
+ //xbee().printf("DEBUG: calc crc 1: %d, crc 2: %d\n\r", calc_crc_one, calc_crc_two);
// first confirm that the checksum is correct
- if ((calc_crc_one == checksum_one) and (calc_crc_two == checksum_two)) {
- // 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
- memset(&temp_char[0], 0, sizeof(temp_char)); //clear full array (or get random characters)
- strncpy(temp_char, char_buffer + 5 /* Offset */, receive_packet_size*sizeof(char) /* Length */); //memcpy introduced random characters
-
- //have to terminate the string with '\0'
- temp_char[receive_packet_size] = '\0';
-
- //pc().printf("\n\rDEBUG: ------ Filename? <<%s>>\n\r", temp_char);
- _received_filename = temp_char;
-
- //pc().printf("\n\rDEBUG: _received_filename <<%s>>\n\r", _received_filename);
-
- //open a file for writing
- openReceiveFile(_received_filename);
-
- //send a reply to Python transmit program
- sendReply();
-
- led3() = 1;
-
- // even if correct CRC, counter prevents the program from writing the same packet twice
- _confirmed_packet_number++;
- }
+ if ((calc_crc_one == checksum_one) and (calc_crc_two == checksum_two)) {
+
+ //xbee().printf("DEBUG: checksums are good!\n\r");
+
+ //xbee().printf("receive_packet_number %d and _confirmed_packet_number %d\n\r", receive_packet_number, _confirmed_packet_number); //debug
+
+// // 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
+// memset(&temp_char[0], 0, sizeof(temp_char)); //clear full array (or get random characters)
+// strncpy(temp_char, char_buffer + 5 /* Offset */, receive_packet_size*sizeof(char) /* Length */); //memcpy introduced random characters
+//
+// //xbee().printf("SEQUENCE: <<%s>>\n\r", temp_char]) // ERASE
+//
+// //have to terminate the string with '\0'
+// temp_char[receive_packet_size] = '\0';
+//
+// //xbee().printf("\n\rDEBUG: ------ Filename? <<%s>>\n\r", temp_char);
+// //_received_filename = temp_char;
+//
+// //xbee().printf("\n\rDEBUG: _received_filename <<%s>>\n\r", _received_filename);
+//
+// //open a file for writing
+// //openReceiveFile(_received_filename);
+//
+// //send a reply to Python transmit program
+// sendReply();
+//
+// led3() = 1;
+//
+// // even if correct CRC, counter prevents the program from writing the same packet twice
+// _confirmed_packet_number++;
+// }
// check if the packet that you're receiving (receive_packet_number) has been received already...
//CHECKSUM CORRECT & packet numbers that are 1 through N packets
- else if (receive_packet_number == _confirmed_packet_number){
+ if (receive_packet_number == _confirmed_packet_number){
//save the data (char buffer) to the file if both checksums work...
// when a packet is received (successfully) send a reply
- sendReply();
+ //sendReply();
// write correct data to file
fprintf(_fp, "%s", char_buffer+5);
@@ -1020,35 +1069,36 @@
break;
}
- //counter breaks out of the loop if no data received
- if (serial_timeout >= 10000) {
- //pc().printf("break serial_timeout %d\n\r", serial_timeout);
- break;
- }
+// //counter breaks out of the loop if no data received
+// if (serial_timeout >= 10000) {
+// //xbee().printf("break serial_timeout %d\n\r", serial_timeout);
+// break;
+// }
}
break;
case END_TRANSMISSION:
- if (pc().getc() == 16) {
- pc().printf("DEBUG: END_TRANSMISSION REACHED: 1. \n\r");
+ if (xbee().getc() == 16) {
+ //xbee().printf("DEBUG: END_TRANSMISSION REACHED: 1. \n\r");
- if (pc().getc() == 16) {
- pc().printf("DEBUG: END_TRANSMISSION REACHED: 2. \n\r");
+ if (xbee().getc() == 16) {
+ //xbee().printf("DEBUG: END_TRANSMISSION REACHED: 2. \n\r");
- endReceiveData();
+ _end_sequence_transmission = true;
+ //endReceiveData();
}
}
- pc().printf("DEBUG: END_TRANSMISSION REACHED: 5. \n\r");
+ //xbee().printf("DEBUG: END_TRANSMISSION REACHED: 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
+ //xbee().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("DEBUG: checkForIncomingData data_transmission_complete \n\r");
+ //xbee().printf("DEBUG: checkForIncomingData data_transmission_complete \n\r");
break; //out of while loop
}
} // while loop
@@ -1087,7 +1137,7 @@
//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
+ xbee().putc(*_it); //send integers over serial port one byte at a time
}
//change process methodology later...
@@ -1097,7 +1147,7 @@
void MbedLogger::endReceiveData() { //DLE character * 4 ==> 10 10 10 10
closeLogFile(); //close the file here
- pc().printf("endReceiveData closed the file and ended transmission\n\r");
+ xbee().printf("endReceiveData closed the file and ended transmission\n\r");
}
//calculate the crc with an integer array
@@ -1139,7 +1189,7 @@
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);
+ //xbee().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_array.length(), crc % 256);
return crc % 256; //last byte
}
@@ -1149,10 +1199,10 @@
}
void MbedLogger::openNewMissionFile() {
- pc().printf("Opening Mission file (sequence.txt) for reception.\n\r");
+ xbee().printf("Opening Mission file (sequence.txt) for reception.\n\r");
string filename_string = _file_system_string + "sequence.txt";
- pc().printf("openNewMissionFile: %s\n\r", filename_string.c_str());
+ xbee().printf("openNewMissionFile: %s\n\r", filename_string.c_str());
_fp = fopen(filename_string.c_str(), "w");
}
@@ -1193,7 +1243,7 @@
// log file freezes at 0x0000006c
void MbedLogger::initializeLogFile() {
string file_name_string = _file_system_string + "LOG000.csv";
- pc().printf("%s file system init\n\r", _file_system_string.c_str());
+ xbee().printf("%s file system init\n\r", _file_system_string.c_str());
//try to open this file...
_fp = fopen(file_name_string.c_str(), "r");
@@ -1224,7 +1274,7 @@
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);
+ //xbee().printf("DEBUG: calcCrcOne string length: %d crc: %d\n\r", input_string.length(), crc/256);
return crc / 256; //second-to-last byte
}
@@ -1240,7 +1290,7 @@
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);
+ //xbee().printf("DEBUG: calcCrcTwo string length: %d crc: %d\n\r", input_string.length(), crc % 256);
return crc % 256; //last byte
}
@@ -1269,13 +1319,13 @@
//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);
+ xbee().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
+ xbee().printf("What is _fp right now? %p\n\r", _fp); //pointer notation
if (_fp)
return 1; //file pointer does exist
@@ -1284,11 +1334,11 @@
}
void MbedLogger::specifyFileForTransmit(string input_string) {
- pc().printf("specifyFileForTransmit\n\r");
+ xbee().printf("specifyFileForTransmit\n\r");
string file_string = _file_system_string + input_string;
- pc().printf("file_string is <%s>\n\r", file_string.c_str());
+ xbee().printf("file_string is <%s>\n\r", file_string.c_str());
//open this file to read
_fp = fopen(file_string.c_str(), "r");
@@ -1311,13 +1361,13 @@
// char * numstart, *numstop;
if ( NULL == (dir = opendir( _file_system_string.c_str() )) ) {
- pc().printf("MBED directory could not be opened\r\n");
+ xbee().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);
+ xbee().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) {
@@ -1336,13 +1386,13 @@
void MbedLogger::accessMbedDirectory() {
printMbedDirectory();
- pc().printf("Type in the number of the file you want to transmit.\n\r");
+ xbee().printf("Type in the number of the file you want to transmit.\n\r");
char message[42];
- pc().scanf("%41s", message);
+ xbee().scanf("%41s", message);
- pc().printf("Input received!\n\r");
+ xbee().printf("Input received!\n\r");
//check if char array is an integer
char* conversion_pointer;
@@ -1350,11 +1400,11 @@
if (*conversion_pointer) {
//conversion failed because the input was not a number
- pc().printf("NOT A VALID FILE NUMBER!\n\r");
+ xbee().printf("NOT A VALID FILE NUMBER!\n\r");
}
else {
//conversion worked!
- pc().printf("You chose file number: %d\n\r", converted);
+ xbee().printf("You chose file number: %d\n\r", converted);
// transmit the file
transmitFileFromDirectory(converted);
@@ -1365,11 +1415,11 @@
led4() = 1;
if (_fp == NULL){
- pc().printf("MbedLogger: (%s) LOG FILE WAS ALREADY CLOSED!\n\r", _file_system_string.c_str());
+ xbee().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());
+ xbee().printf("MbedLogger: (%s) CLOSING LOG FILE!\n\r", _file_system_string.c_str());
//close file
fclose(_fp);
@@ -1382,6 +1432,39 @@
_mbed_receive_loop = true;
}
+void MbedLogger::receiveSequenceFile() {
+ //restart each time
+ _end_sequence_transmission = false;
+
+ openNewMissionFile();
+
+ //zero will be reserved for the file name, future
+ _confirmed_packet_number = 1; //in sendReply() function that transmits a reply for incoming data
+
+// int current_packet_number = 1;
+// int last_packet_number = -1;
+// int break_transmission = 0;
+
+ int counter = 0;
+
+ while(1) {
+ wait(0.25); //runs at 4 Hz
+
+ checkForIncomingData();
+
+ //xbee().printf("\n\rDEBUG: _confirmed_packet_number%d\n\r", _confirmed_packet_number);
+
+ counter++;
+
+ sendReply(); //bad name, should call it send request or something
+
+ if (_end_sequence_transmission)
+ break;
+ }
+
+ closeLogFile();
+}
+
void MbedLogger::receiveMissionDataWithFSM() {
checkForIncomingData();
@@ -1394,7 +1477,7 @@
_mbed_receive_ticker.attach(callback(this, &MbedLogger::activateReceivePacket), 0.5);
- pc().printf("\n\r02/09/2018 MbedLogger receiveMissionData Beginning to receive sequence data...\n\r");
+ xbee().printf("\n\r02/09/2018 MbedLogger receiveMissionData Beginning to receive sequence data...\n\r");
resetReplyPacket(); //reset the reply packet
@@ -1408,7 +1491,7 @@
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");
+ xbee().printf("\n\rMbedLogger: Data RECEPTION complete.\n\r");
_mbed_receive_ticker.detach();
break;
}
@@ -1420,7 +1503,7 @@
//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
+ //xbee().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) {
@@ -1430,7 +1513,7 @@
if (break_transmission >= 50) {
closeIncompleteFile(); //close the file
_mbed_receive_ticker.detach();
- pc().printf("MbedLogger: TRANSMISSION INTERRUPTED!\n\r");
+ xbee().printf("MbedLogger: TRANSMISSION INTERRUPTED!\n\r");
break;
}
}
@@ -1448,9 +1531,7 @@
_fp = fopen(_full_file_path_string.c_str(), "w"); // LOG000.csv
fprintf(_fp,_heading_string.c_str());
-
- // _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)"
-
+
closeLogFile();
}
@@ -1489,147 +1570,6 @@
_data_packet.push_back(crc_two);
}
-void MbedLogger::sendStatus() {
- led3() = !led3();
- //readPacketInSeries() //uses this functionality
-
- //get data depth, pitch, heading, timer
-
- //store the data as a hex char array
- char hex_char_depth[256];
- char hex_char_pitch[256];
- char hex_char_heading[256];
- char hex_char_timer[256];
-
- string string_hex_buffer = ""; //buffer to store the hex data as a string
- string string_temp; // ELIMINATE THIS ASAP
-
- float depth_value = depthLoop().getPosition();
- float pitch_value = imu().getPitch();
- float heading_value = imu().getHeading();
- //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);
- sprintf(hex_char_heading, "%08X" , *(unsigned int*)&heading_value);
- sprintf(hex_char_timer, "%08X" , *(unsigned int*)&timer_value);
-
- //store the integer values
- int hex_to_int[128];
-
- //read through hex string and break apart into chunks and save the decimal values
- int hex_counter = 0;
-
-//////////////////////////
- string_hex_buffer = hex_char_depth;
-
- for (int i = 0; i < 8; i = i+2) {
- //substring starts at x substr(x, length of substring)
- string_temp = string_hex_buffer.substr(i,2); // get substring from string (converted from char array)
-
- //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
- // copying the contents of the string to char array
- char temp_char_array[256];
- strcpy(temp_char_array, string_temp.c_str());
-
- //store char array hex value as decimal value
- int decimal_value;
- sscanf(temp_char_array,"%x",&decimal_value);
-
- hex_to_int[hex_counter] = decimal_value;
- hex_counter++; //iterate to keep up with for loop
-
- //clear the string each time
- //string_temp = "";
- //cout << "string_temp CLEARED? is " << string_temp << endl;
- //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
- }
-
- string_hex_buffer = hex_char_pitch;
-
- for (int i = 0; i < 8; i = i+2) {
- //substring starts at x substr(x, length of substring)
- string_temp = string_hex_buffer.substr(i,2);
-
- //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
- // copying the contents of the string to char array
- char temp_char_array[256];
- strcpy(temp_char_array, string_temp.c_str());
-
- //store char array hex value as decimal value
- int decimal_value;
- sscanf(temp_char_array,"%x",&decimal_value);
-
- hex_to_int[hex_counter] = decimal_value;
- hex_counter++; //iterate to keep up with for loop
-
- //clear the string each time
- //string_temp = "";
- //cout << "string_temp CLEARED? is " << string_temp << endl;
- //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
- }
-
- string_hex_buffer = hex_char_heading;
-
- for (int i = 0; i < 8; i = i+2) {
- //substring starts at x substr(x, length of substring)
- string_temp = string_hex_buffer.substr(i,2);
-
- //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
- // copying the contents of the string to char array
- char temp_char_array[256];
- strcpy(temp_char_array, string_temp.c_str());
-
- //store char array hex value as decimal value
- int decimal_value;
- sscanf(temp_char_array,"%x",&decimal_value);
-
- hex_to_int[hex_counter] = decimal_value;
- hex_counter++; //iterate to keep up with for loop
-
- //clear the string each time
- //string_temp = "";
- //cout << "string_temp CLEARED? is " << string_temp << endl;
- //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
- }
-
- string_hex_buffer = hex_char_timer;
-
- for (int i = 0; i < 8; i = i+2) {
- //substring starts at x substr(x, length of substring)
- string_temp = string_hex_buffer.substr(i,2);
-
- //convoluted, fix this!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
- // copying the contents of the string to char array
- char temp_char_array[256];
- strcpy(temp_char_array, string_temp.c_str());
-
- //store char array hex value as decimal value
- int decimal_value;
- sscanf(temp_char_array,"%x",&decimal_value);
-
- hex_to_int[hex_counter] = decimal_value;
- hex_counter++; //iterate to keep up with for loop
-
- //clear the string each time
- //string_temp = "";
- //cout << "string_temp CLEARED? is " << string_temp << endl;
- //cout << "string_temp is " << string_temp << " and the value is " << decimal_value << endl;
- }
-//////////////////////////
-
- //create new packet based on int array
- _packet_number = 1; // TEST, FIX THIS
- _total_number_of_packets = 1;
- _current_line_length = 16;
-
- intCreateDataPacket(hex_to_int,16);
-
-
- transmitDataPacket();
-}
-
void MbedLogger::setTransmitPacketNumber(int packet_number) {
_transmit_packet_num = packet_number;
@@ -1641,4 +1581,4 @@
int MbedLogger::currentPacketNumber() {
return _packet_number;
-}
\ No newline at end of file
+}
\ No newline at end of file