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
MbedLogger/MbedLogger.cpp
- Committer:
- tnhnrl
- Date:
- 2018-02-15
- Revision:
- 48:20e681885161
- Parent:
- 47:fb3c7929d3f3
- Child:
- 49:47ffa4feb6db
File content as of revision 48:20e681885161:
#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("\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
}
//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;
}
//idea to copy SD file on system down-time
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::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();
}
}
// initialize and close the file
// 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());
//try to open this file...
_fp = fopen(file_name_string.c_str(), "r");
//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;
}