Diff: ConfigFileIO/ConfigFileIO.cpp

Revision:

57:ec69651c8c21

Child:

73:f6f378311c8d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ConfigFileIO/ConfigFileIO.cpp	Thu Jun 14 16:10:25 2018 +0000
@@ -0,0 +1,457 @@
+#include "ConfigFileIO.hpp"
+#include "StaticDefs.hpp"
+
+//configuration file io, both to read, set, and save
+
+ConfigFileIO::ConfigFileIO() {
+}
+
+void ConfigFileIO::saveBattData(float p_gain, float i_gain, float d_gain) {       
+    ConfigFile write_Batt_txt;   //write to the config file
+    
+    char PGain_buffer[128];
+    sprintf(PGain_buffer,"# configuration file for battery mover parameters\n\n#Gains\nPGain");
+    
+    char string_pgain[128];  
+    sprintf(string_pgain, "%f", p_gain);
+    write_Batt_txt.setValue(PGain_buffer, string_pgain);
+    
+    char string_igain[128];  
+    sprintf(string_igain, "%f", i_gain);
+    write_Batt_txt.setValue("IGain", string_igain);
+    
+    char string_dgain[128];  
+    sprintf(string_dgain, "%f", d_gain);
+    write_Batt_txt.setValue("DGain", string_dgain);
+            
+    write_Batt_txt.setValue("\n#string pot parameters\nzeroCounts", "610");
+    write_Batt_txt.setValue("PistonTravelLimit", "73.0");
+    write_Batt_txt.setValue("slope", "0.12176");
+    write_Batt_txt.setValue("filterWn", "6.0");
+    write_Batt_txt.setValue("deadband", "0.5");
+
+    //SAVE THE DATA!
+    pc().printf("Saving BATTERY MOVER PID data!");
+    
+    if (!write_Batt_txt.write("/local/batt.txt")) {
+        pc().printf("\n\rERROR: (SAVE)Failure to write batt.txt file.");
+    }
+    else {
+        pc().printf("\n\rFile batt.txt successful written.\n\r");
+    }  
+}
+
+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::saveBCEData(float p_gain, float i_gain, float d_gain) {       
+    ConfigFile write_BCE_txt;   //write to the config file
+    
+    char PGain_buffer[128];
+    sprintf(PGain_buffer,"# configuration file for BCE parameters\n\n#Gains\nPGain");
+    
+    char string_pgain[128];  
+    sprintf(string_pgain, "%f", p_gain);
+    write_BCE_txt.setValue(PGain_buffer, string_pgain);
+    
+    char string_igain[128];  
+    sprintf(string_igain, "%f", i_gain);
+    write_BCE_txt.setValue("IGain", string_igain);
+    
+    char string_dgain[128];  
+    sprintf(string_dgain, "%f", d_gain);
+    write_BCE_txt.setValue("DGain", string_dgain);
+            
+    write_BCE_txt.setValue("\n#string pot parameters\nzeroCounts", "253");
+    write_BCE_txt.setValue("PistonTravelLimit", "320.0");
+    write_BCE_txt.setValue("slope", "0.12176");
+    write_BCE_txt.setValue("filterWn", "6.0");
+    write_BCE_txt.setValue("deadband", "0.5");
+
+    //SAVE THE DATA!
+    pc().printf("Saving BCE PID data!");
+    
+    if (!write_BCE_txt.write("/local/bce.txt")) {
+        pc().printf("\n\rERROR: (SAVE)Failure to write bce.txt file.");
+    }
+    else {
+        pc().printf("\n\rFile bce.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");
+    } 
+}
+
+//write rudder (servo driver) file rudder.txt
+void ConfigFileIO::saveRudderData(float setMinDeg, float setMaxDeg, float setCenterPWM, float setMinPWM, float setMaxPWM) {
+    ConfigFile rudder_txt;
+    
+    char header[128];
+    sprintf(header,"# rudder (servo) inner loop (heading outer loop uses this)");
+    
+    char string_min_deg[128];  
+    sprintf(string_min_deg, "%f", setMinDeg);
+    rudder_txt.setValue("setMinDeg", string_min_deg);
+    
+    char string_max_deg[128];  
+    sprintf(string_max_deg, "%f", setMaxDeg);
+    rudder_txt.setValue("setMaxDeg", string_max_deg);
+    
+    char string_ctr_pwm[128];  
+    sprintf(string_ctr_pwm, "%f", setCenterPWM);
+    rudder_txt.setValue("setCenterPWM", string_ctr_pwm);
+    
+    char string_min_pwm[128];  
+    sprintf(string_min_pwm, "%f", setMinPWM);
+    rudder_txt.setValue("setMinPWM", string_min_pwm);
+    
+    char string_max_pwm[128];  
+    sprintf(string_max_pwm, "%f", setMaxPWM);
+    rudder_txt.setValue("setMaxPWM", string_max_pwm);
+
+    //SAVE THE DATA!
+    pc().printf("Saving RUDDER DATA!");
+    
+    if (!rudder_txt.write("/local/rudder.txt")) {
+        pc().printf("\n\rERROR: (SAVE)Failure to write rudder.txt file.");
+    }
+    else {
+        pc().printf("\n\rFile rudder.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;     
+}
+
+//write to heading.txt
+void ConfigFileIO::saveHeadingData(float heading_p_gain, float heading_i_gain, float heading_d_gain, float heading_offset) {
+    ConfigFile heading_txt;
+    
+    char PGain_buffer[128];
+    sprintf(PGain_buffer,"# HEADING (rudder outer loop) parameters\n\n#Gains\nPGain");
+    
+    //convert input numbers into text and save them to text file
+    char string_pgain[128];  
+    sprintf(string_pgain, "%f", heading_p_gain);
+    heading_txt.setValue(PGain_buffer, string_pgain);
+    
+    char string_igain[128];  
+    sprintf(string_igain, "%f", heading_i_gain);
+    heading_txt.setValue("IGain", string_igain);
+    
+    char string_dgain[128];  
+    sprintf(string_dgain, "%f", heading_d_gain);
+    heading_txt.setValue("DGain", string_dgain);
+            
+    heading_txt.setValue("\n# HEADING sensor filter parameters\nfilterWn", "6.0");
+    heading_txt.setValue("deadband", "0.5");
+    
+    char string_zeroOffset[128];
+    sprintf(string_zeroOffset, "%f", heading_offset);
+    heading_txt.setValue("\n#HEADING offset for dive (no default!)\nzeroOffset", string_zeroOffset);
+    
+    //SAVE THE DATA!
+    pc().printf("(ConfigFileIO) Saving HEADING parameters!");
+    
+    if (!heading_txt.write("/local/heading.txt")) {
+        pc().printf("\n\rERROR: (SAVE) Failure to write heading.txt file.");
+    }
+    else {
+        pc().printf("\n\rFile heading.txt successful written.\n\r");
+    } 
+}
+
+int ConfigFileIO::load_BATT_config() {
+    ConfigFile cfg;
+    int count = 0;
+    if (!cfg.read("/local/batt.txt")) {
+            error("BATT 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("DEPTH 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("PITCH 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;
+}
+
+int ConfigFileIO::load_HEADING_config() {
+    ConfigFile cfg;
+    int count = 0;
+    if (!cfg.read("/local/heading.txt")){
+            error("HEADING File Read Error");
+    }
+    char value[BUFSIZ];
+    
+    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
+        headingLoop().setControllerP(atof(value));
+        count++;
+    }
+    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
+        headingLoop().setControllerI(atof(value));
+        count++;
+    }
+    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
+        headingLoop().setControllerD(atof(value));
+        count++;
+    }
+    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
+        headingLoop().setFilterFrequency(atof(value));
+        count++;
+    }
+    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
+        headingLoop().setDeadband(atof(value));
+        count++;
+    }
+    
+    if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
+        headingLoop().setOutputOffset(atof(value));
+        count++;
+    }     
+    return count;
+}
+
+int ConfigFileIO::load_RUDDER_config() {
+    ConfigFile cfg;
+    int count = 0;
+    if (!cfg.read("/local/rudder.txt")){
+            error("RUDDER File Read Error");
+    }
+    char value[BUFSIZ];
+    
+    //float values below
+    if (cfg.getValue("setMinDeg", &value[0] , sizeof(value))) {
+        rudder().setMinDeg(atof(value));
+        count++;
+    }
+    if (cfg.getValue("setMaxDeg", &value[0] ,sizeof(value))) {
+        rudder().setMaxDeg(atof(value));
+        count++;
+    }
+    
+    //integer values below
+    if (cfg.getValue("setCenterPWM", &value[0] , sizeof(value))) {
+        rudder().setCenterPWM(atof(value));
+        count++;
+    }
+    if (cfg.getValue("setMinPWM", &value[0], sizeof(value))) {
+        rudder().setMinPWM(atof(value));
+        count++;
+    }
+    if (cfg.getValue("setMaxPWM", &value[0], sizeof(value))) {
+        rudder().setMaxPWM(atof(value));
+        count++;
+    }
+    return count;
+}
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