Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

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@92:52a91656458a, 2019-05-13 (annotated)

Committer:
joel_ssc
Date:
Mon May 13 19:25:26 2019 +0000
Revision:
92:52a91656458a
Parent:
88:1813f583cee9 
version for first flight test, timeouts not yet set correctly

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 57:ec69651c8c21 1 #include "ConfigFileIO.hpp"
tnhnrl 57:ec69651c8c21 2 #include "StaticDefs.hpp"
tnhnrl 57:ec69651c8c21 3
tnhnrl 57:ec69651c8c21 4 //configuration file io, both to read, set, and save
tnhnrl 57:ec69651c8c21 5
tnhnrl 57:ec69651c8c21 6 ConfigFileIO::ConfigFileIO() {
tnhnrl 73:f6f378311c8d 7 }
tnhnrl 57:ec69651c8c21 8
tnhnrl 76:c802e1da4179 9 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) {
tnhnrl 57:ec69651c8c21 10 ConfigFile write_Batt_txt; //write to the config file
tnhnrl 57:ec69651c8c21 11
tnhnrl 57:ec69651c8c21 12 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 13 sprintf(PGain_buffer,"# configuration file for battery mover parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 14
tnhnrl 57:ec69651c8c21 15 char string_pgain[128];
tnhnrl 73:f6f378311c8d 16 sprintf(string_pgain, "%f", batt_p_gain);
tnhnrl 57:ec69651c8c21 17 write_Batt_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 18
tnhnrl 57:ec69651c8c21 19 char string_igain[128];
tnhnrl 73:f6f378311c8d 20 sprintf(string_igain, "%f", batt_i_gain);
tnhnrl 57:ec69651c8c21 21 write_Batt_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 22
tnhnrl 57:ec69651c8c21 23 char string_dgain[128];
tnhnrl 73:f6f378311c8d 24 sprintf(string_dgain, "%f", batt_d_gain);
tnhnrl 57:ec69651c8c21 25 write_Batt_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 26
tnhnrl 73:f6f378311c8d 27 char string_zeroCounts[128];
tnhnrl 76:c802e1da4179 28 sprintf(string_zeroCounts, "%d", batt_zeroOffset);
tnhnrl 73:f6f378311c8d 29 write_Batt_txt.setValue("\n#string pot parameters\nzeroCounts", string_zeroCounts);
tnhnrl 73:f6f378311c8d 30
tnhnrl 79:3688c3a0d7f4 31 //modified this from hard-coded values to set to whatever is in the file on startup
tnhnrl 79:3688c3a0d7f4 32 char string_batt_travel_limit[128];
tnhnrl 79:3688c3a0d7f4 33 sprintf(string_batt_travel_limit, "%f", batt().getTravelLimit());
tnhnrl 79:3688c3a0d7f4 34 write_Batt_txt.setValue("PistonTravelLimit", string_batt_travel_limit);
tnhnrl 79:3688c3a0d7f4 35
tnhnrl 57:ec69651c8c21 36 write_Batt_txt.setValue("slope", "0.12176");
tnhnrl 73:f6f378311c8d 37
tnhnrl 73:f6f378311c8d 38 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 39 sprintf(string_filter_freq, "%f", batt_filter_freq);
tnhnrl 73:f6f378311c8d 40 write_Batt_txt.setValue("filterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 41
tnhnrl 73:f6f378311c8d 42 char string_deadband[128];
tnhnrl 73:f6f378311c8d 43 sprintf(string_deadband, "%f", batt_deadband);
tnhnrl 73:f6f378311c8d 44 write_Batt_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 45
tnhnrl 57:ec69651c8c21 46 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 47 xbee().printf("Saving BATTERY MOVER PID data!");
tnhnrl 57:ec69651c8c21 48
tnhnrl 57:ec69651c8c21 49 if (!write_Batt_txt.write("/local/batt.txt")) {
tnhnrl 74:d281aaef9766 50 xbee().printf("\n\rERROR: (SAVE)Failure to write batt.txt file.");
tnhnrl 57:ec69651c8c21 51 }
tnhnrl 57:ec69651c8c21 52 else {
tnhnrl 74:d281aaef9766 53 xbee().printf("\n\rFile batt.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 54 }
tnhnrl 57:ec69651c8c21 55 }
joel_ssc 86:ba3a118b0080 56 int ConfigFileIO::load_StartTime() {
joel_ssc 86:ba3a118b0080 57 ConfigFile cfg;
joel_ssc 86:ba3a118b0080 58 int count = 0;
joel_ssc 86:ba3a118b0080 59 if (!cfg.read("/local/time.txt")) {
joel_ssc 86:ba3a118b0080 60 error("File Read Error");
joel_ssc 86:ba3a118b0080 61 }
joel_ssc 86:ba3a118b0080 62 char value[BUFSIZ];
joel_ssc 86:ba3a118b0080 63 if (cfg.getValue("TimeStamp", &value[0] , sizeof(value))) {
joel_ssc 86:ba3a118b0080 64 // bce().setControllerP(atoi(value));
joel_ssc 86:ba3a118b0080 65 mbedLogger().setLogTime(atol(value));
joel_ssc 86:ba3a118b0080 66 count++;
joel_ssc 86:ba3a118b0080 67 }
joel_ssc 86:ba3a118b0080 68 return count;
joel_ssc 86:ba3a118b0080 69 }
joel_ssc 82:0981b9ada820 70 void ConfigFileIO::saveLogVersData(int logversion, int diagversion) {
joel_ssc 82:0981b9ada820 71 ConfigFile write_logvers_txt; //write to the config file
joel_ssc 82:0981b9ada820 72
joel_ssc 82:0981b9ada820 73 char string_log[128];
joel_ssc 82:0981b9ada820 74 sprintf(string_log, "%d", logversion);
joel_ssc 82:0981b9ada820 75 write_logvers_txt.setValue("LogFileVers", string_log);
joel_ssc 82:0981b9ada820 76
joel_ssc 82:0981b9ada820 77 char string_diag[128];
joel_ssc 82:0981b9ada820 78 sprintf(string_diag, "%i", diagversion);
joel_ssc 82:0981b9ada820 79 write_logvers_txt.setValue("DiagFileVers", string_diag);
joel_ssc 82:0981b9ada820 80
joel_ssc 82:0981b9ada820 81
joel_ssc 82:0981b9ada820 82
joel_ssc 82:0981b9ada820 83 //SAVE THE DATA!
joel_ssc 82:0981b9ada820 84 xbee().printf("Saving logfile version numbers !");
joel_ssc 82:0981b9ada820 85
joel_ssc 82:0981b9ada820 86 if (!write_logvers_txt.write("/local/logvers.txt")) {
joel_ssc 82:0981b9ada820 87 xbee().printf("\n\rERROR: (SAVE)Failure to write logvers.txt file.");
joel_ssc 82:0981b9ada820 88 }
joel_ssc 82:0981b9ada820 89 else {
joel_ssc 82:0981b9ada820 90 xbee().printf("\n\rFile logvvrs.txt successful written.\n\r");
joel_ssc 82:0981b9ada820 91 }
joel_ssc 82:0981b9ada820 92 }
tnhnrl 57:ec69651c8c21 93
tnhnrl 73:f6f378311c8d 94 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) {
tnhnrl 57:ec69651c8c21 95 ConfigFile write_pitch_txt; //write to the config file
tnhnrl 57:ec69651c8c21 96
tnhnrl 57:ec69651c8c21 97 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 98 sprintf(PGain_buffer,"# pitch outer loop parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 99
tnhnrl 57:ec69651c8c21 100 char string_pgain[128];
tnhnrl 73:f6f378311c8d 101 sprintf(string_pgain, "%f", pitch_p_gain);
tnhnrl 57:ec69651c8c21 102 write_pitch_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 103
tnhnrl 57:ec69651c8c21 104 char string_igain[128];
tnhnrl 73:f6f378311c8d 105 sprintf(string_igain, "%f", pitch_i_gain);
tnhnrl 57:ec69651c8c21 106 write_pitch_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 107
tnhnrl 57:ec69651c8c21 108 char string_dgain[128];
tnhnrl 73:f6f378311c8d 109 sprintf(string_dgain, "%f", pitch_d_gain);
tnhnrl 57:ec69651c8c21 110 write_pitch_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 111
tnhnrl 73:f6f378311c8d 112 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 113 sprintf(string_filter_freq, "%f", pitch_filter_freq);
tnhnrl 73:f6f378311c8d 114 write_pitch_txt.setValue("\n#Pitch sensor filter parameters\nfilterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 115
tnhnrl 73:f6f378311c8d 116 char string_deadband[128];
tnhnrl 73:f6f378311c8d 117 sprintf(string_deadband, "%f", pitch_deadband);
tnhnrl 73:f6f378311c8d 118 write_pitch_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 119
tnhnrl 57:ec69651c8c21 120 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 121 sprintf(string_zeroOffset, "%f", pitch_zeroOffset);
tnhnrl 57:ec69651c8c21 122 //bce setting was 41 mm during LASR experiments
tnhnrl 57:ec69651c8c21 123 write_pitch_txt.setValue("\n#Offset for neutral (default: 41)\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 124
tnhnrl 57:ec69651c8c21 125 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 126 xbee().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 57:ec69651c8c21 127
tnhnrl 57:ec69651c8c21 128 if (!write_pitch_txt.write("/local/pitch.txt")) {
tnhnrl 74:d281aaef9766 129 xbee().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 57:ec69651c8c21 130 }
tnhnrl 57:ec69651c8c21 131 else {
tnhnrl 74:d281aaef9766 132 xbee().printf("\n\rFile pitch.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 133 }
tnhnrl 57:ec69651c8c21 134 }
tnhnrl 57:ec69651c8c21 135
tnhnrl 76:c802e1da4179 136 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) {
tnhnrl 57:ec69651c8c21 137 ConfigFile write_BCE_txt; //write to the config file
tnhnrl 57:ec69651c8c21 138
tnhnrl 57:ec69651c8c21 139 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 140 sprintf(PGain_buffer,"# configuration file for BCE parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 141
tnhnrl 57:ec69651c8c21 142 char string_pgain[128];
tnhnrl 73:f6f378311c8d 143 sprintf(string_pgain, "%f", bce_p_gain);
tnhnrl 57:ec69651c8c21 144 write_BCE_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 145
tnhnrl 57:ec69651c8c21 146 char string_igain[128];
tnhnrl 73:f6f378311c8d 147 sprintf(string_igain, "%f", bce_i_gain);
tnhnrl 57:ec69651c8c21 148 write_BCE_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 149
tnhnrl 57:ec69651c8c21 150 char string_dgain[128];
tnhnrl 73:f6f378311c8d 151 sprintf(string_dgain, "%f", bce_d_gain);
tnhnrl 57:ec69651c8c21 152 write_BCE_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 153
tnhnrl 73:f6f378311c8d 154 char string_zeroCounts[128];
tnhnrl 76:c802e1da4179 155 sprintf(string_zeroCounts, "%d", bce_zeroOffset);
tnhnrl 73:f6f378311c8d 156 write_BCE_txt.setValue("\n#string pot parameters\nzeroCounts", string_zeroCounts);
tnhnrl 73:f6f378311c8d 157
tnhnrl 79:3688c3a0d7f4 158 //modified this from hard-coded values to set to whatever is in the file on startup
tnhnrl 79:3688c3a0d7f4 159 char string_bce_travel_limit[128];
tnhnrl 79:3688c3a0d7f4 160 sprintf(string_bce_travel_limit, "%f", batt().getTravelLimit());
tnhnrl 79:3688c3a0d7f4 161 write_BCE_txt.setValue("PistonTravelLimit", string_bce_travel_limit);
tnhnrl 79:3688c3a0d7f4 162
tnhnrl 57:ec69651c8c21 163 write_BCE_txt.setValue("slope", "0.12176");
tnhnrl 73:f6f378311c8d 164
tnhnrl 73:f6f378311c8d 165 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 166 sprintf(string_filter_freq, "%f", bce_filter_freq);
tnhnrl 73:f6f378311c8d 167 write_BCE_txt.setValue("filterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 168
tnhnrl 73:f6f378311c8d 169 char string_deadband[128];
tnhnrl 73:f6f378311c8d 170 sprintf(string_deadband, "%f", bce_deadband);
tnhnrl 73:f6f378311c8d 171 write_BCE_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 172
tnhnrl 57:ec69651c8c21 173 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 174 xbee().printf("Saving BCE PID data!");
tnhnrl 57:ec69651c8c21 175
tnhnrl 57:ec69651c8c21 176 if (!write_BCE_txt.write("/local/bce.txt")) {
tnhnrl 74:d281aaef9766 177 xbee().printf("\n\rERROR: (SAVE)Failure to write bce.txt file.");
tnhnrl 57:ec69651c8c21 178 }
tnhnrl 57:ec69651c8c21 179 else {
tnhnrl 74:d281aaef9766 180 xbee().printf("\n\rFile bce.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 181 }
tnhnrl 57:ec69651c8c21 182 }
tnhnrl 57:ec69651c8c21 183
tnhnrl 73:f6f378311c8d 184 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) {
tnhnrl 57:ec69651c8c21 185 ConfigFile write_depth_txt; //write to the config file
tnhnrl 57:ec69651c8c21 186
tnhnrl 57:ec69651c8c21 187 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 188 sprintf(PGain_buffer,"# depth outer loop parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 189
tnhnrl 57:ec69651c8c21 190 char string_pgain[128];
tnhnrl 73:f6f378311c8d 191 sprintf(string_pgain, "%f", depth_p_gain);
tnhnrl 57:ec69651c8c21 192 write_depth_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 193
tnhnrl 57:ec69651c8c21 194 char string_igain[128];
tnhnrl 73:f6f378311c8d 195 sprintf(string_igain, "%f", depth_i_gain);
tnhnrl 57:ec69651c8c21 196 write_depth_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 197
tnhnrl 57:ec69651c8c21 198 char string_dgain[128];
tnhnrl 73:f6f378311c8d 199 sprintf(string_dgain, "%f", depth_d_gain);
tnhnrl 57:ec69651c8c21 200 write_depth_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 201
tnhnrl 73:f6f378311c8d 202 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 203 sprintf(string_filter_freq, "%f", depth_filter_freq);
tnhnrl 73:f6f378311c8d 204 write_depth_txt.setValue("\n#Depth sensor filter parameters\nfilterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 205
tnhnrl 73:f6f378311c8d 206 char string_deadband[128];
tnhnrl 73:f6f378311c8d 207 sprintf(string_deadband, "%f", depth_deadband);
tnhnrl 73:f6f378311c8d 208 write_depth_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 209
tnhnrl 57:ec69651c8c21 210 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 211 sprintf(string_zeroOffset, "%f", depth_zeroOffset);
tnhnrl 57:ec69651c8c21 212 //bce setting was 240 mm during LASR experiments
tnhnrl 57:ec69651c8c21 213 write_depth_txt.setValue("\n#Offset for neutral (default: 240)\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 214
tnhnrl 57:ec69651c8c21 215 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 216 xbee().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 57:ec69651c8c21 217
tnhnrl 57:ec69651c8c21 218 if (!write_depth_txt.write("/local/depth.txt")) {
tnhnrl 74:d281aaef9766 219 xbee().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 57:ec69651c8c21 220 }
tnhnrl 57:ec69651c8c21 221 else {
tnhnrl 74:d281aaef9766 222 xbee().printf("\n\rFile depth.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 223 }
tnhnrl 57:ec69651c8c21 224 }
tnhnrl 57:ec69651c8c21 225
tnhnrl 57:ec69651c8c21 226 //write rudder (servo driver) file rudder.txt
tnhnrl 57:ec69651c8c21 227 void ConfigFileIO::saveRudderData(float setMinDeg, float setMaxDeg, float setCenterPWM, float setMinPWM, float setMaxPWM) {
tnhnrl 57:ec69651c8c21 228 ConfigFile rudder_txt;
tnhnrl 57:ec69651c8c21 229
tnhnrl 57:ec69651c8c21 230 char header[128];
tnhnrl 57:ec69651c8c21 231 sprintf(header,"# rudder (servo) inner loop (heading outer loop uses this)");
tnhnrl 57:ec69651c8c21 232
tnhnrl 57:ec69651c8c21 233 char string_min_deg[128];
tnhnrl 57:ec69651c8c21 234 sprintf(string_min_deg, "%f", setMinDeg);
tnhnrl 57:ec69651c8c21 235 rudder_txt.setValue("setMinDeg", string_min_deg);
tnhnrl 57:ec69651c8c21 236
tnhnrl 57:ec69651c8c21 237 char string_max_deg[128];
tnhnrl 57:ec69651c8c21 238 sprintf(string_max_deg, "%f", setMaxDeg);
tnhnrl 57:ec69651c8c21 239 rudder_txt.setValue("setMaxDeg", string_max_deg);
tnhnrl 57:ec69651c8c21 240
tnhnrl 57:ec69651c8c21 241 char string_ctr_pwm[128];
tnhnrl 57:ec69651c8c21 242 sprintf(string_ctr_pwm, "%f", setCenterPWM);
tnhnrl 57:ec69651c8c21 243 rudder_txt.setValue("setCenterPWM", string_ctr_pwm);
tnhnrl 57:ec69651c8c21 244
tnhnrl 57:ec69651c8c21 245 char string_min_pwm[128];
tnhnrl 57:ec69651c8c21 246 sprintf(string_min_pwm, "%f", setMinPWM);
tnhnrl 57:ec69651c8c21 247 rudder_txt.setValue("setMinPWM", string_min_pwm);
tnhnrl 57:ec69651c8c21 248
tnhnrl 57:ec69651c8c21 249 char string_max_pwm[128];
tnhnrl 57:ec69651c8c21 250 sprintf(string_max_pwm, "%f", setMaxPWM);
tnhnrl 57:ec69651c8c21 251 rudder_txt.setValue("setMaxPWM", string_max_pwm);
tnhnrl 57:ec69651c8c21 252
tnhnrl 57:ec69651c8c21 253 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 254 xbee().printf("Saving RUDDER DATA!");
tnhnrl 57:ec69651c8c21 255
tnhnrl 57:ec69651c8c21 256 if (!rudder_txt.write("/local/rudder.txt")) {
tnhnrl 74:d281aaef9766 257 xbee().printf("\n\rERROR: (SAVE)Failure to write rudder.txt file.");
tnhnrl 57:ec69651c8c21 258 }
tnhnrl 57:ec69651c8c21 259 else {
tnhnrl 74:d281aaef9766 260 xbee().printf("\n\rFile rudder.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 261 }
tnhnrl 57:ec69651c8c21 262 }
tnhnrl 57:ec69651c8c21 263
tnhnrl 57:ec69651c8c21 264 int ConfigFileIO::load_BCE_config() {
tnhnrl 57:ec69651c8c21 265 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 266 int count = 0;
tnhnrl 57:ec69651c8c21 267 if (!cfg.read("/local/bce.txt")) {
tnhnrl 57:ec69651c8c21 268 error("File Read Error");
tnhnrl 57:ec69651c8c21 269 }
tnhnrl 57:ec69651c8c21 270 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 271
tnhnrl 57:ec69651c8c21 272 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 273 bce().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 274 count++;
tnhnrl 57:ec69651c8c21 275 }
tnhnrl 57:ec69651c8c21 276 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 277 bce().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 278 count++;
tnhnrl 57:ec69651c8c21 279 }
tnhnrl 57:ec69651c8c21 280 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 281 bce().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 282 count++;
tnhnrl 57:ec69651c8c21 283 }
tnhnrl 57:ec69651c8c21 284 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 57:ec69651c8c21 285 bce().setZeroCounts(atoi(value));
tnhnrl 57:ec69651c8c21 286 count++;
tnhnrl 57:ec69651c8c21 287 }
tnhnrl 57:ec69651c8c21 288 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 289 bce().setTravelLimit(atof(value));
tnhnrl 57:ec69651c8c21 290 count++;
tnhnrl 57:ec69651c8c21 291 }
tnhnrl 57:ec69651c8c21 292 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 293 bce().setPotSlope(atof(value));
tnhnrl 57:ec69651c8c21 294 count++;
tnhnrl 57:ec69651c8c21 295 }
tnhnrl 57:ec69651c8c21 296 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 297 bce().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 298 count++;
tnhnrl 57:ec69651c8c21 299 }
tnhnrl 57:ec69651c8c21 300 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 301 bce().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 302 count++;
tnhnrl 57:ec69651c8c21 303 }
tnhnrl 57:ec69651c8c21 304
tnhnrl 57:ec69651c8c21 305 return count;
tnhnrl 57:ec69651c8c21 306 }
tnhnrl 57:ec69651c8c21 307
tnhnrl 57:ec69651c8c21 308 //write to heading.txt
tnhnrl 73:f6f378311c8d 309 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) {
tnhnrl 57:ec69651c8c21 310 ConfigFile heading_txt;
tnhnrl 57:ec69651c8c21 311
tnhnrl 57:ec69651c8c21 312 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 313 sprintf(PGain_buffer,"# HEADING (rudder outer loop) parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 314
tnhnrl 57:ec69651c8c21 315 //convert input numbers into text and save them to text file
tnhnrl 57:ec69651c8c21 316 char string_pgain[128];
tnhnrl 57:ec69651c8c21 317 sprintf(string_pgain, "%f", heading_p_gain);
tnhnrl 57:ec69651c8c21 318 heading_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 319
tnhnrl 57:ec69651c8c21 320 char string_igain[128];
tnhnrl 57:ec69651c8c21 321 sprintf(string_igain, "%f", heading_i_gain);
tnhnrl 57:ec69651c8c21 322 heading_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 323
tnhnrl 57:ec69651c8c21 324 char string_dgain[128];
tnhnrl 57:ec69651c8c21 325 sprintf(string_dgain, "%f", heading_d_gain);
tnhnrl 57:ec69651c8c21 326 heading_txt.setValue("DGain", string_dgain);
tnhnrl 74:d281aaef9766 327
tnhnrl 74:d281aaef9766 328 char string_heading_freq[128];
tnhnrl 74:d281aaef9766 329 sprintf(string_heading_freq, "%f", heading_filter_freq);
tnhnrl 74:d281aaef9766 330 heading_txt.setValue("\n# HEADING sensor filter parameters\nfilterWn", string_heading_freq);
tnhnrl 74:d281aaef9766 331
tnhnrl 74:d281aaef9766 332 char string_heading_db[128];
tnhnrl 74:d281aaef9766 333 sprintf(string_heading_db, "%f", heading_deadband);
tnhnrl 74:d281aaef9766 334 heading_txt.setValue("deadband",string_heading_db);
tnhnrl 57:ec69651c8c21 335
tnhnrl 57:ec69651c8c21 336 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 337 sprintf(string_zeroOffset, "%f", heading_zeroOffset);
tnhnrl 74:d281aaef9766 338 heading_txt.setValue("\n#HEADING offset\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 339
tnhnrl 57:ec69651c8c21 340 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 341 xbee().printf("(ConfigFileIO) Saving HEADING parameters!");
tnhnrl 57:ec69651c8c21 342
tnhnrl 57:ec69651c8c21 343 if (!heading_txt.write("/local/heading.txt")) {
tnhnrl 74:d281aaef9766 344 xbee().printf("\n\rERROR: (SAVE) Failure to write heading.txt file.");
tnhnrl 57:ec69651c8c21 345 }
tnhnrl 57:ec69651c8c21 346 else {
tnhnrl 74:d281aaef9766 347 xbee().printf("\n\rFile heading.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 348 }
tnhnrl 57:ec69651c8c21 349 }
joel_ssc 82:0981b9ada820 350 int ConfigFileIO::load_LogVers_config(int print_diag) { // I could copy this mode to read one line of a leg_mission file. One line or multiple lines?
tnhnrl 57:ec69651c8c21 351 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 352 int count = 0;
joel_ssc 82:0981b9ada820 353 int version = 0;
joel_ssc 82:0981b9ada820 354 if (!cfg.read("/local/logvers.txt")) { // "/local/leg_mission.txt"
joel_ssc 82:0981b9ada820 355 error("Lognames version file logvers.txt File Read Error");
joel_ssc 82:0981b9ada820 356 }
joel_ssc 87:6d95f853dab3 357 char value[BUFSIZ]; // chang
joel_ssc 82:0981b9ada820 358
joel_ssc 82:0981b9ada820 359
joel_ssc 82:0981b9ada820 360 if (cfg.getValue("LogFileVers", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 361 version = atoi(value);
joel_ssc 82:0981b9ada820 362 char buf[256];
joel_ssc 82:0981b9ada820 363 sprintf(buf, "LOG%03d.csv", version);
joel_ssc 82:0981b9ada820 364 logFilesStruct.logFileName = buf;
joel_ssc 82:0981b9ada820 365 logFilesStruct.logversion = version;
joel_ssc 82:0981b9ada820 366 count++;
joel_ssc 82:0981b9ada820 367 }
joel_ssc 82:0981b9ada820 368 if (cfg.getValue("DiagFileVers", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 369 version = atoi(value);
joel_ssc 82:0981b9ada820 370 char buf[256];
joel_ssc 82:0981b9ada820 371
joel_ssc 82:0981b9ada820 372 sprintf(buf, "in configfileIO: diag file version number is %d\n", version);
joel_ssc 82:0981b9ada820 373 if(print_diag == 1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 374 // buf[256]= {0};
joel_ssc 87:6d95f853dab3 375 sprintf(buf, "in ConfigFileIO: diag file string is DIAG%03d.txt\n", version);
joel_ssc 82:0981b9ada820 376 if(print_diag == 1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 377 // buf[256]= {0};
joel_ssc 82:0981b9ada820 378 sprintf(buf, "DIAG%03d.txt", version);
joel_ssc 82:0981b9ada820 379 logFilesStruct.diagFileName = buf;
joel_ssc 82:0981b9ada820 380 logFilesStruct.diagversion = version;
joel_ssc 82:0981b9ada820 381 sprintf(buf, "in ConfigFileIO: diag info pulled from struct: filename = %s diagvernum = %d\n", logFilesStruct.diagFileName,
joel_ssc 82:0981b9ada820 382 logFilesStruct.diagversion);
joel_ssc 82:0981b9ada820 383 if(print_diag==1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 384 count++;
joel_ssc 82:0981b9ada820 385 }
joel_ssc 82:0981b9ada820 386 return count;
joel_ssc 82:0981b9ada820 387 }
joel_ssc 87:6d95f853dab3 388 int ConfigFileIO::load_setneutral_status() {
joel_ssc 87:6d95f853dab3 389 ConfigFile cfg;
joel_ssc 87:6d95f853dab3 390 int count = 0;
joel_ssc 87:6d95f853dab3 391 int setval = 0;
joel_ssc 87:6d95f853dab3 392 int bce_mm = 240;
joel_ssc 87:6d95f853dab3 393 int batt_mm = 40;
joel_ssc 87:6d95f853dab3 394 if (!cfg.read("/local/neutral.txt")) {
joel_ssc 87:6d95f853dab3 395 error("setneutral file neutral.txt File Read Error");
joel_ssc 87:6d95f853dab3 396 // set values in struct to defaults??
joel_ssc 87:6d95f853dab3 397 }
joel_ssc 87:6d95f853dab3 398 char value[BUFSIZ];
joel_ssc 87:6d95f853dab3 399
joel_ssc 87:6d95f853dab3 400
joel_ssc 87:6d95f853dab3 401 if (cfg.getValue("neutral_set", &value[0] , sizeof(value))) {
joel_ssc 87:6d95f853dab3 402 setval = atoi(value);
joel_ssc 87:6d95f853dab3 403 neutralStruct.setval = setval;
joel_ssc 87:6d95f853dab3 404 count++;
joel_ssc 87:6d95f853dab3 405 }
joel_ssc 87:6d95f853dab3 406 if (cfg.getValue("bce_neutral_mm", &value[0] , sizeof(value))) {
joel_ssc 87:6d95f853dab3 407 bce_mm = atoi(value);
joel_ssc 87:6d95f853dab3 408 char buf[256];
joel_ssc 87:6d95f853dab3 409 sprintf(buf, "in configfileIO: bce_neutral_mm is %d\n", bce_mm);
joel_ssc 87:6d95f853dab3 410 mbedLogger().appendDiagFile(buf,3);
joel_ssc 87:6d95f853dab3 411 // buf[256]= {0};
joel_ssc 87:6d95f853dab3 412 neutralStruct.bce_neutral_mm = bce_mm;
joel_ssc 87:6d95f853dab3 413 count++;
joel_ssc 87:6d95f853dab3 414 }
joel_ssc 87:6d95f853dab3 415 if (cfg.getValue("batt_neutral_mm", &value[0] , sizeof(value))) {
joel_ssc 87:6d95f853dab3 416 batt_mm = atoi(value);
joel_ssc 87:6d95f853dab3 417 char buf[256];
joel_ssc 87:6d95f853dab3 418 sprintf(buf, "in configfileIO: batt_neutral_mm is %d\n", batt_mm);
joel_ssc 87:6d95f853dab3 419 mbedLogger().appendDiagFile(buf,3);
joel_ssc 87:6d95f853dab3 420 // buf[256]= {0};
joel_ssc 87:6d95f853dab3 421 neutralStruct.batt_neutral_mm = batt_mm;
joel_ssc 87:6d95f853dab3 422 count++;
joel_ssc 87:6d95f853dab3 423 }
joel_ssc 87:6d95f853dab3 424 return count;
joel_ssc 87:6d95f853dab3 425 }
joel_ssc 87:6d95f853dab3 426 void ConfigFileIO::saveNeutralStatus(int setval, int bce_neutral_mm, int batt_neutral_mm) {
joel_ssc 87:6d95f853dab3 427 ConfigFile neutral_txt;
joel_ssc 87:6d95f853dab3 428
joel_ssc 87:6d95f853dab3 429 //convert input numbers into text and save them to text file
joel_ssc 87:6d95f853dab3 430 char string_setval[128];
joel_ssc 87:6d95f853dab3 431 sprintf(string_setval, "%d", setval);
joel_ssc 87:6d95f853dab3 432 neutral_txt.setValue("# Neutral set status and values\nneutral_set", string_setval);
joel_ssc 87:6d95f853dab3 433
joel_ssc 87:6d95f853dab3 434 char string_bce[128];
joel_ssc 87:6d95f853dab3 435 sprintf(string_bce, "%d", bce_neutral_mm);
joel_ssc 87:6d95f853dab3 436 neutral_txt.setValue("bce_neutral_mm", string_bce);
joel_ssc 87:6d95f853dab3 437
joel_ssc 87:6d95f853dab3 438 char string_batt[128];
joel_ssc 87:6d95f853dab3 439 sprintf(string_batt, "%d", batt_neutral_mm);
joel_ssc 87:6d95f853dab3 440 neutral_txt.setValue("batt_neutral_mm", string_batt);
joel_ssc 87:6d95f853dab3 441
joel_ssc 87:6d95f853dab3 442
joel_ssc 87:6d95f853dab3 443 //SAVE THE DATA! also put the data insto the neutral struct
joel_ssc 87:6d95f853dab3 444 neutralStruct.batt_neutral_mm = batt_neutral_mm;
joel_ssc 87:6d95f853dab3 445 neutralStruct.bce_neutral_mm = bce_neutral_mm;
joel_ssc 87:6d95f853dab3 446 neutralStruct.setval = setval;
joel_ssc 87:6d95f853dab3 447 xbee().printf("(ConfigFileIO) Saving neutral set status parameters!");
joel_ssc 87:6d95f853dab3 448
joel_ssc 87:6d95f853dab3 449 if (!neutral_txt.write("/local/neutral.txt")) {
joel_ssc 87:6d95f853dab3 450 xbee().printf("\n\rERROR: (SAVE) Failure to write neutral.txt file.");
joel_ssc 87:6d95f853dab3 451 }
joel_ssc 87:6d95f853dab3 452 else {
joel_ssc 87:6d95f853dab3 453 xbee().printf("\n\rFile neutral.txt successful written.\n\r");
joel_ssc 87:6d95f853dab3 454 }
joel_ssc 87:6d95f853dab3 455 }
joel_ssc 82:0981b9ada820 456 int ConfigFileIO::load_BATT_config() { // I could copy this mode to read one line of a leg_mission file. One line or multiple lines?
joel_ssc 82:0981b9ada820 457 ConfigFile cfg;
joel_ssc 82:0981b9ada820 458 int count = 0;
joel_ssc 82:0981b9ada820 459 if (!cfg.read("/local/batt.txt")) { // "/local/leg_mission.txt"
tnhnrl 57:ec69651c8c21 460 error("BATT File Read Error");
tnhnrl 57:ec69651c8c21 461 }
tnhnrl 57:ec69651c8c21 462 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 463
tnhnrl 57:ec69651c8c21 464
tnhnrl 57:ec69651c8c21 465 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 466 batt().setControllerP(atof(value)); // but I want values in a legStructLoaded, not a function
tnhnrl 57:ec69651c8c21 467 count++;
tnhnrl 57:ec69651c8c21 468 }
tnhnrl 57:ec69651c8c21 469 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 470 batt().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 471 count++;
tnhnrl 57:ec69651c8c21 472 }
tnhnrl 57:ec69651c8c21 473 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 474 batt().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 475 count++;
tnhnrl 57:ec69651c8c21 476 }
tnhnrl 57:ec69651c8c21 477 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 57:ec69651c8c21 478 batt().setZeroCounts(atoi(value));
tnhnrl 57:ec69651c8c21 479 count++;
tnhnrl 57:ec69651c8c21 480 }
tnhnrl 57:ec69651c8c21 481 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 482 batt().setTravelLimit(atof(value));
tnhnrl 57:ec69651c8c21 483 count++;
tnhnrl 57:ec69651c8c21 484 }
tnhnrl 57:ec69651c8c21 485 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 486 batt().setPotSlope(atof(value));
tnhnrl 57:ec69651c8c21 487 count++;
tnhnrl 57:ec69651c8c21 488 }
tnhnrl 57:ec69651c8c21 489 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 490 batt().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 491 count++;
tnhnrl 57:ec69651c8c21 492 }
tnhnrl 57:ec69651c8c21 493 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 494 batt().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 495 count++;
tnhnrl 57:ec69651c8c21 496 }
tnhnrl 57:ec69651c8c21 497
tnhnrl 57:ec69651c8c21 498 return count;
tnhnrl 57:ec69651c8c21 499 }
joel_ssc 87:6d95f853dab3 500 void ConfigFileIO::report_still_inverted( float roll_value, int yotime) {
joel_ssc 87:6d95f853dab3 501 ConfigFile still_inverted;
joel_ssc 87:6d95f853dab3 502
joel_ssc 87:6d95f853dab3 503 char string_yotime[128];
joel_ssc 87:6d95f853dab3 504 sprintf(string_yotime, "%d", yotime);
joel_ssc 87:6d95f853dab3 505 still_inverted.setValue("# Still Inverted after START_SWIM yo timeout timeout\n yo_time", string_yotime);
joel_ssc 87:6d95f853dab3 506
joel_ssc 87:6d95f853dab3 507 char string_roll[128];
joel_ssc 87:6d95f853dab3 508 sprintf(string_roll, "%f", roll_value);
joel_ssc 87:6d95f853dab3 509 still_inverted.setValue("inverted_roll_value", string_roll);
joel_ssc 87:6d95f853dab3 510
joel_ssc 87:6d95f853dab3 511
joel_ssc 87:6d95f853dab3 512 //SAVE THE DATA!
joel_ssc 87:6d95f853dab3 513
joel_ssc 87:6d95f853dab3 514 xbee().printf("(ConfigFileIO) Saving still_inverted status after start_swim timeout!");
joel_ssc 87:6d95f853dab3 515
joel_ssc 87:6d95f853dab3 516 if (!still_inverted.write("/local/inverted.txt")) { // I assume this will build a new file if one is not already there
joel_ssc 87:6d95f853dab3 517 xbee().printf("\n\rERROR: (SAVE) Failure to write inverted.txt file.");
joel_ssc 87:6d95f853dab3 518 }
joel_ssc 87:6d95f853dab3 519 else {
joel_ssc 87:6d95f853dab3 520 xbee().printf("\n\rFile inverted.txt written.\n\r"); // raspberry Pi will need to delete this file on finding it
joel_ssc 87:6d95f853dab3 521 }
joel_ssc 87:6d95f853dab3 522
joel_ssc 87:6d95f853dab3 523 }
joel_ssc 87:6d95f853dab3 524 void ConfigFileIO::report_no_neutral_found(int bce_last_pos, int batt_last_pos) { // this will tell the Raspberry Pi that neutral was not found -- BAD
joel_ssc 87:6d95f853dab3 525 ConfigFile no_neutral;
joel_ssc 87:6d95f853dab3 526 int setval = 0;
joel_ssc 87:6d95f853dab3 527 //convert input numbers into text and save them to text file
joel_ssc 87:6d95f853dab3 528 char string_setval[128];
joel_ssc 87:6d95f853dab3 529 sprintf(string_setval, "%d", setval);
joel_ssc 87:6d95f853dab3 530 no_neutral.setValue("# Find_Neutral success or failure\nneutral_found", string_setval);
joel_ssc 87:6d95f853dab3 531
joel_ssc 87:6d95f853dab3 532 char string_batt[128];
joel_ssc 87:6d95f853dab3 533 sprintf(string_batt, "%d", batt_last_pos);
joel_ssc 87:6d95f853dab3 534 no_neutral.setValue("batt_last_position", string_batt);
joel_ssc 87:6d95f853dab3 535
joel_ssc 87:6d95f853dab3 536 sprintf(string_batt, "%d", bce_last_pos);
joel_ssc 87:6d95f853dab3 537 no_neutral.setValue("bce_last_position", string_batt);
joel_ssc 87:6d95f853dab3 538
joel_ssc 87:6d95f853dab3 539
joel_ssc 87:6d95f853dab3 540 //SAVE THE DATA! also put the data insto the neutral struct
joel_ssc 87:6d95f853dab3 541
joel_ssc 87:6d95f853dab3 542 xbee().printf("(ConfigFileIO) Saving find_neutral failure status!");
joel_ssc 87:6d95f853dab3 543
joel_ssc 87:6d95f853dab3 544 if (!no_neutral.write("/local/no_float.txt")) { // I assume this will build a new file if one is not already there
joel_ssc 87:6d95f853dab3 545 xbee().printf("\n\rERROR: (SAVE) Failure to write no_float.txt file.");
joel_ssc 87:6d95f853dab3 546 }
joel_ssc 87:6d95f853dab3 547 else {
joel_ssc 87:6d95f853dab3 548 xbee().printf("\n\rFile no_float.txt written.\n\r");
joel_ssc 87:6d95f853dab3 549 }
joel_ssc 87:6d95f853dab3 550 }
joel_ssc 88:1813f583cee9 551 void ConfigFileIO::save_FinalTime() {
joel_ssc 88:1813f583cee9 552 ConfigFile timefile_txt;
joel_ssc 88:1813f583cee9 553 int last_time;
joel_ssc 88:1813f583cee9 554 char header[128];
joel_ssc 88:1813f583cee9 555 sprintf(header,"# Timestamp at last moment before closing shop\n");
joel_ssc 88:1813f583cee9 556
joel_ssc 88:1813f583cee9 557 char string_end_time[128];
joel_ssc 88:1813f583cee9 558 last_time = mbedLogger().getSystemTime();
joel_ssc 88:1813f583cee9 559 sprintf(string_end_time, "%d", last_time);
joel_ssc 88:1813f583cee9 560 timefile_txt.setValue("TimeStamp", string_end_time);
joel_ssc 88:1813f583cee9 561
joel_ssc 88:1813f583cee9 562
joel_ssc 88:1813f583cee9 563 //SAVE THE DATA!
joel_ssc 88:1813f583cee9 564 xbee().printf("Saving timestamp value!");
joel_ssc 88:1813f583cee9 565
joel_ssc 88:1813f583cee9 566 if (!timefile_txt.write("/local/newtime.txt")) {
joel_ssc 88:1813f583cee9 567 xbee().printf("\n\rERROR: (SAVE)Failure to write time.txt file.");
joel_ssc 88:1813f583cee9 568 }
joel_ssc 88:1813f583cee9 569 else {
joel_ssc 88:1813f583cee9 570 xbee().printf("\n\rFile newtime.txt successfully written.\n\r");
joel_ssc 88:1813f583cee9 571 }
joel_ssc 88:1813f583cee9 572 }
tnhnrl 57:ec69651c8c21 573 int ConfigFileIO::load_DEPTH_config() {
tnhnrl 57:ec69651c8c21 574 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 575 int count = 0;
tnhnrl 57:ec69651c8c21 576 if (!cfg.read("/local/depth.txt")) {
tnhnrl 57:ec69651c8c21 577 error("DEPTH File Read Error");
tnhnrl 57:ec69651c8c21 578 }
tnhnrl 57:ec69651c8c21 579 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 580
tnhnrl 57:ec69651c8c21 581 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 582 depthLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 583 count++;
tnhnrl 57:ec69651c8c21 584 }
tnhnrl 57:ec69651c8c21 585 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 586 depthLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 587 count++;
tnhnrl 57:ec69651c8c21 588 }
tnhnrl 57:ec69651c8c21 589 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 590 depthLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 591 count++;
tnhnrl 57:ec69651c8c21 592 }
tnhnrl 57:ec69651c8c21 593 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 594 depthLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 595 count++;
tnhnrl 57:ec69651c8c21 596 }
tnhnrl 57:ec69651c8c21 597 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 598 depthLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 599 count++;
tnhnrl 57:ec69651c8c21 600 }
tnhnrl 57:ec69651c8c21 601 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 602 depthLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 603 count++;
tnhnrl 57:ec69651c8c21 604 }
tnhnrl 57:ec69651c8c21 605 return count;
tnhnrl 57:ec69651c8c21 606 }
tnhnrl 57:ec69651c8c21 607
tnhnrl 57:ec69651c8c21 608 int ConfigFileIO::load_PITCH_config() {
tnhnrl 57:ec69651c8c21 609 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 610 int count = 0;
tnhnrl 57:ec69651c8c21 611 if (!cfg.read("/local/pitch.txt")){
tnhnrl 57:ec69651c8c21 612 error("PITCH File Read Error");
tnhnrl 57:ec69651c8c21 613 }
tnhnrl 57:ec69651c8c21 614 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 615
tnhnrl 57:ec69651c8c21 616 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 617 pitchLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 618 count++;
tnhnrl 57:ec69651c8c21 619 }
tnhnrl 57:ec69651c8c21 620 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 621 pitchLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 622 count++;
tnhnrl 57:ec69651c8c21 623 }
tnhnrl 57:ec69651c8c21 624 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 625 pitchLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 626 count++;
tnhnrl 57:ec69651c8c21 627 }
tnhnrl 57:ec69651c8c21 628 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 629 pitchLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 630 count++;
tnhnrl 57:ec69651c8c21 631 }
tnhnrl 57:ec69651c8c21 632 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 633 pitchLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 634 count++;
tnhnrl 57:ec69651c8c21 635 }
tnhnrl 57:ec69651c8c21 636
tnhnrl 57:ec69651c8c21 637 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 638 pitchLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 639 count++;
tnhnrl 57:ec69651c8c21 640 }
tnhnrl 57:ec69651c8c21 641 return count;
tnhnrl 57:ec69651c8c21 642 }
tnhnrl 57:ec69651c8c21 643
tnhnrl 57:ec69651c8c21 644 int ConfigFileIO::load_HEADING_config() {
tnhnrl 57:ec69651c8c21 645 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 646 int count = 0;
tnhnrl 57:ec69651c8c21 647 if (!cfg.read("/local/heading.txt")){
tnhnrl 57:ec69651c8c21 648 error("HEADING File Read Error");
tnhnrl 57:ec69651c8c21 649 }
tnhnrl 57:ec69651c8c21 650 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 651
tnhnrl 57:ec69651c8c21 652 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 653 headingLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 654 count++;
tnhnrl 57:ec69651c8c21 655 }
tnhnrl 57:ec69651c8c21 656 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 657 headingLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 658 count++;
tnhnrl 57:ec69651c8c21 659 }
tnhnrl 57:ec69651c8c21 660 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 661 headingLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 662 count++;
tnhnrl 57:ec69651c8c21 663 }
tnhnrl 57:ec69651c8c21 664 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 665 headingLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 666 count++;
tnhnrl 57:ec69651c8c21 667 }
tnhnrl 57:ec69651c8c21 668 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 669 headingLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 670 count++;
tnhnrl 57:ec69651c8c21 671 }
tnhnrl 57:ec69651c8c21 672
tnhnrl 57:ec69651c8c21 673 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 674 headingLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 675 count++;
tnhnrl 57:ec69651c8c21 676 }
tnhnrl 57:ec69651c8c21 677 return count;
tnhnrl 57:ec69651c8c21 678 }
tnhnrl 57:ec69651c8c21 679
tnhnrl 57:ec69651c8c21 680 int ConfigFileIO::load_RUDDER_config() {
tnhnrl 57:ec69651c8c21 681 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 682 int count = 0;
tnhnrl 57:ec69651c8c21 683 if (!cfg.read("/local/rudder.txt")){
tnhnrl 57:ec69651c8c21 684 error("RUDDER File Read Error");
tnhnrl 57:ec69651c8c21 685 }
tnhnrl 57:ec69651c8c21 686 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 687
tnhnrl 57:ec69651c8c21 688 //float values below
tnhnrl 57:ec69651c8c21 689 if (cfg.getValue("setMinDeg", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 690 rudder().setMinDeg(atof(value));
tnhnrl 57:ec69651c8c21 691 count++;
tnhnrl 57:ec69651c8c21 692 }
tnhnrl 57:ec69651c8c21 693 if (cfg.getValue("setMaxDeg", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 694 rudder().setMaxDeg(atof(value));
tnhnrl 57:ec69651c8c21 695 count++;
tnhnrl 57:ec69651c8c21 696 }
tnhnrl 57:ec69651c8c21 697
tnhnrl 57:ec69651c8c21 698 //integer values below
tnhnrl 57:ec69651c8c21 699 if (cfg.getValue("setCenterPWM", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 700 rudder().setCenterPWM(atof(value));
tnhnrl 57:ec69651c8c21 701 count++;
tnhnrl 57:ec69651c8c21 702 }
tnhnrl 57:ec69651c8c21 703 if (cfg.getValue("setMinPWM", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 704 rudder().setMinPWM(atof(value));
tnhnrl 57:ec69651c8c21 705 count++;
tnhnrl 57:ec69651c8c21 706 }
tnhnrl 57:ec69651c8c21 707 if (cfg.getValue("setMaxPWM", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 708 rudder().setMaxPWM(atof(value));
tnhnrl 57:ec69651c8c21 709 count++;
tnhnrl 57:ec69651c8c21 710 }
tnhnrl 57:ec69651c8c21 711 return count;
tnhnrl 57:ec69651c8c21 712 }