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
ConfigFileIO/ConfigFileIO.cpp
- Committer:
- tnhnrl
- Date:
- 2018-10-23
- Revision:
- 79:3688c3a0d7f4
- Parent:
- 76:c802e1da4179
- Child:
- 82:0981b9ada820
File content as of revision 79:3688c3a0d7f4:
#include "ConfigFileIO.hpp" #include "StaticDefs.hpp" //configuration file io, both to read, set, and save ConfigFileIO::ConfigFileIO() { } void ConfigFileIO::saveBattData(float batt_p_gain, float batt_i_gain, float batt_d_gain, int batt_zeroOffset, float batt_filter_freq, float batt_deadband) { 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", batt_p_gain); write_Batt_txt.setValue(PGain_buffer, string_pgain); char string_igain[128]; sprintf(string_igain, "%f", batt_i_gain); write_Batt_txt.setValue("IGain", string_igain); char string_dgain[128]; sprintf(string_dgain, "%f", batt_d_gain); write_Batt_txt.setValue("DGain", string_dgain); char string_zeroCounts[128]; sprintf(string_zeroCounts, "%d", batt_zeroOffset); write_Batt_txt.setValue("\n#string pot parameters\nzeroCounts", string_zeroCounts); //modified this from hard-coded values to set to whatever is in the file on startup char string_batt_travel_limit[128]; sprintf(string_batt_travel_limit, "%f", batt().getTravelLimit()); write_Batt_txt.setValue("PistonTravelLimit", string_batt_travel_limit); write_Batt_txt.setValue("slope", "0.12176"); char string_filter_freq[128]; sprintf(string_filter_freq, "%f", batt_filter_freq); write_Batt_txt.setValue("filterWn", string_filter_freq); char string_deadband[128]; sprintf(string_deadband, "%f", batt_deadband); write_Batt_txt.setValue("deadband", string_deadband); //SAVE THE DATA! xbee().printf("Saving BATTERY MOVER PID data!"); if (!write_Batt_txt.write("/local/batt.txt")) { xbee().printf("\n\rERROR: (SAVE)Failure to write batt.txt file."); } else { xbee().printf("\n\rFile batt.txt successful written.\n\r"); } } void ConfigFileIO::savePitchData(float pitch_p_gain, float pitch_i_gain, float pitch_d_gain, float pitch_zeroOffset, float pitch_filter_freq, float pitch_deadband) { 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", pitch_p_gain); write_pitch_txt.setValue(PGain_buffer, string_pgain); char string_igain[128]; sprintf(string_igain, "%f", pitch_i_gain); write_pitch_txt.setValue("IGain", string_igain); char string_dgain[128]; sprintf(string_dgain, "%f", pitch_d_gain); write_pitch_txt.setValue("DGain", string_dgain); char string_filter_freq[128]; sprintf(string_filter_freq, "%f", pitch_filter_freq); write_pitch_txt.setValue("\n#Pitch sensor filter parameters\nfilterWn", string_filter_freq); char string_deadband[128]; sprintf(string_deadband, "%f", pitch_deadband); write_pitch_txt.setValue("deadband", string_deadband); char string_zeroOffset[128]; sprintf(string_zeroOffset, "%f", pitch_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! xbee().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!"); if (!write_pitch_txt.write("/local/pitch.txt")) { xbee().printf("\n\rERROR: (SAVE)Failure to write depth.txt file."); } else { xbee().printf("\n\rFile pitch.txt successful written.\n\r"); } } void ConfigFileIO::saveBCEData(float bce_p_gain, float bce_i_gain, float bce_d_gain, int bce_zeroOffset, float bce_filter_freq, float bce_deadband) { 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", bce_p_gain); write_BCE_txt.setValue(PGain_buffer, string_pgain); char string_igain[128]; sprintf(string_igain, "%f", bce_i_gain); write_BCE_txt.setValue("IGain", string_igain); char string_dgain[128]; sprintf(string_dgain, "%f", bce_d_gain); write_BCE_txt.setValue("DGain", string_dgain); char string_zeroCounts[128]; sprintf(string_zeroCounts, "%d", bce_zeroOffset); write_BCE_txt.setValue("\n#string pot parameters\nzeroCounts", string_zeroCounts); //modified this from hard-coded values to set to whatever is in the file on startup char string_bce_travel_limit[128]; sprintf(string_bce_travel_limit, "%f", batt().getTravelLimit()); write_BCE_txt.setValue("PistonTravelLimit", string_bce_travel_limit); write_BCE_txt.setValue("slope", "0.12176"); char string_filter_freq[128]; sprintf(string_filter_freq, "%f", bce_filter_freq); write_BCE_txt.setValue("filterWn", string_filter_freq); char string_deadband[128]; sprintf(string_deadband, "%f", bce_deadband); write_BCE_txt.setValue("deadband", string_deadband); //SAVE THE DATA! xbee().printf("Saving BCE PID data!"); if (!write_BCE_txt.write("/local/bce.txt")) { xbee().printf("\n\rERROR: (SAVE)Failure to write bce.txt file."); } else { xbee().printf("\n\rFile bce.txt successful written.\n\r"); } } void ConfigFileIO::saveDepthData(float depth_p_gain, float depth_i_gain, float depth_d_gain, float depth_zeroOffset, float depth_filter_freq, float depth_deadband) { 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", depth_p_gain); write_depth_txt.setValue(PGain_buffer, string_pgain); char string_igain[128]; sprintf(string_igain, "%f", depth_i_gain); write_depth_txt.setValue("IGain", string_igain); char string_dgain[128]; sprintf(string_dgain, "%f", depth_d_gain); write_depth_txt.setValue("DGain", string_dgain); char string_filter_freq[128]; sprintf(string_filter_freq, "%f", depth_filter_freq); write_depth_txt.setValue("\n#Depth sensor filter parameters\nfilterWn", string_filter_freq); char string_deadband[128]; sprintf(string_deadband, "%f", depth_deadband); write_depth_txt.setValue("deadband", string_deadband); char string_zeroOffset[128]; sprintf(string_zeroOffset, "%f", depth_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! xbee().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!"); if (!write_depth_txt.write("/local/depth.txt")) { xbee().printf("\n\rERROR: (SAVE)Failure to write depth.txt file."); } else { xbee().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! xbee().printf("Saving RUDDER DATA!"); if (!rudder_txt.write("/local/rudder.txt")) { xbee().printf("\n\rERROR: (SAVE)Failure to write rudder.txt file."); } else { xbee().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_zeroOffset, float heading_filter_freq, float heading_deadband) { 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); char string_heading_freq[128]; sprintf(string_heading_freq, "%f", heading_filter_freq); heading_txt.setValue("\n# HEADING sensor filter parameters\nfilterWn", string_heading_freq); char string_heading_db[128]; sprintf(string_heading_db, "%f", heading_deadband); heading_txt.setValue("deadband",string_heading_db); char string_zeroOffset[128]; sprintf(string_zeroOffset, "%f", heading_zeroOffset); heading_txt.setValue("\n#HEADING offset\nzeroOffset", string_zeroOffset); //SAVE THE DATA! xbee().printf("(ConfigFileIO) Saving HEADING parameters!"); if (!heading_txt.write("/local/heading.txt")) { xbee().printf("\n\rERROR: (SAVE) Failure to write heading.txt file."); } else { xbee().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; }