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

SequenceController/SequenceController.cpp@92:52a91656458a, 2019-05-13 (annotated)

Committer:
joel_ssc
Date:
Mon May 13 19:25:26 2019 +0000
Revision:
92:52a91656458a
Parent:
87:6d95f853dab3 
version for first flight test, timeouts not yet set correctly

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 17:7c16b5671d0e 1 #include "SequenceController.hpp"
tnhnrl 17:7c16b5671d0e 2 #include "StaticDefs.hpp"
tnhnrl 17:7c16b5671d0e 3
tnhnrl 17:7c16b5671d0e 4 SequenceController::SequenceController() {
tnhnrl 17:7c16b5671d0e 5 _sequence_counter = 0;
tnhnrl 17:7c16b5671d0e 6 }
tnhnrl 17:7c16b5671d0e 7
tnhnrl 17:7c16b5671d0e 8 void SequenceController::loadSequence() {
tnhnrl 74:d281aaef9766 9 xbee().printf("\n\rLoading Dive Sequence File:");
tnhnrl 17:7c16b5671d0e 10
tnhnrl 17:7c16b5671d0e 11 ConfigFile read_sequence_cfg;
joel_ssc 86:ba3a118b0080 12 char value[256];
joel_ssc 86:ba3a118b0080 13 char bux2[256];
tnhnrl 17:7c16b5671d0e 14
tnhnrl 17:7c16b5671d0e 15 //read configuration file stored on MBED
tnhnrl 45:16b8162188ca 16 if (!read_sequence_cfg.read("/local/sequence.txt")) {
tnhnrl 74:d281aaef9766 17 xbee().printf("\n\rERROR:Failure to read sequence.txt file.");
tnhnrl 17:7c16b5671d0e 18 }
tnhnrl 45:16b8162188ca 19 else {
tnhnrl 17:7c16b5671d0e 20 /* Read values from the file until you reach an "exit" character" */
tnhnrl 45:16b8162188ca 21 //up to 256 items in the sequence
tnhnrl 45:16b8162188ca 22 for (int i = 0; i < 256; i++) { //works
tnhnrl 17:7c16b5671d0e 23 /* convert INT to string */
tnhnrl 17:7c16b5671d0e 24 char buf[256];
tnhnrl 17:7c16b5671d0e 25 sprintf(buf, "%d", i); //searching for 0,1,2,3...
tnhnrl 17:7c16b5671d0e 26 /* convert INT to string */
tnhnrl 17:7c16b5671d0e 27
tnhnrl 17:7c16b5671d0e 28 if (read_sequence_cfg.getValue(buf, &value[0], sizeof(value))) {
tnhnrl 74:d281aaef9766 29 xbee().printf("\n\rsequence %d = %s",i,value);
tnhnrl 17:7c16b5671d0e 30
tnhnrl 17:7c16b5671d0e 31 sequenceStructLoaded[i] = process(value); //create the structs using process(string randomstring)
tnhnrl 17:7c16b5671d0e 32 }
tnhnrl 17:7c16b5671d0e 33
tnhnrl 17:7c16b5671d0e 34 if (sequenceStructLoaded[i].title == "exit") {
tnhnrl 17:7c16b5671d0e 35 _number_of_sequences = i; //before the exit
joel_ssc 86:ba3a118b0080 36 sprintf(bux2,"\n\rin loadsequence(): found final exit line num-sequences=%d\n", i);
joel_ssc 86:ba3a118b0080 37 mbedLogger().appendDiagFile(bux2,0);
tnhnrl 17:7c16b5671d0e 38 break;
tnhnrl 17:7c16b5671d0e 39 }
tnhnrl 17:7c16b5671d0e 40 }
tnhnrl 17:7c16b5671d0e 41 } //end of successful read
tnhnrl 17:7c16b5671d0e 42 }
tnhnrl 17:7c16b5671d0e 43
tnhnrl 17:7c16b5671d0e 44 sequenceStruct SequenceController::process(string randomstring) {
tnhnrl 17:7c16b5671d0e 45 //this is the struct that is loaded from the config variables
joel_ssc 86:ba3a118b0080 46 char bux2[256];
tnhnrl 21:38c8544db6f4 47 sequenceStruct loadStruct; //local struct
tnhnrl 17:7c16b5671d0e 48
tnhnrl 17:7c16b5671d0e 49 /* CONVERT STRING TO CHAR ARRAY */
tnhnrl 17:7c16b5671d0e 50 const char *cstr = randomstring.c_str();
tnhnrl 17:7c16b5671d0e 51 /* CONVERT STRING TO CHAR ARRAY */
tnhnrl 17:7c16b5671d0e 52
tnhnrl 17:7c16b5671d0e 53 /* DIVE */
tnhnrl 45:16b8162188ca 54 //this can only be in the first position
tnhnrl 45:16b8162188ca 55 if ((signed int) randomstring.find("dive") != -1) {
tnhnrl 17:7c16b5671d0e 56 loadStruct.title = "dive";
tnhnrl 17:7c16b5671d0e 57 loadStruct.state = MULTI_DIVE; //NEW: separate state handles multiple dives
tnhnrl 17:7c16b5671d0e 58 }
tnhnrl 17:7c16b5671d0e 59 /* DIVE */
tnhnrl 17:7c16b5671d0e 60
tnhnrl 17:7c16b5671d0e 61 /* PITCH */
tnhnrl 45:16b8162188ca 62 if ((signed int) randomstring.find("neutral") != -1) {
tnhnrl 17:7c16b5671d0e 63 loadStruct.title = "neutral";
tnhnrl 74:d281aaef9766 64 xbee().printf("\n\rLOAD neutral. %d", randomstring.find("neutral"));
tnhnrl 17:7c16b5671d0e 65 loadStruct.state = FIND_NEUTRAL;
joel_ssc 86:ba3a118b0080 66 sprintf(bux2,"\n\rin sequence().process(string): FOUND NEUTRAL in randomstring.find \n");
joel_ssc 86:ba3a118b0080 67 mbedLogger().appendDiagFile(bux2,3);
tnhnrl 17:7c16b5671d0e 68 }
tnhnrl 17:7c16b5671d0e 69 /* PITCH */
tnhnrl 17:7c16b5671d0e 70
tnhnrl 17:7c16b5671d0e 71 /* EXIT */
tnhnrl 45:16b8162188ca 72 if ((signed int) randomstring.find("exit") != -1) {
tnhnrl 17:7c16b5671d0e 73 loadStruct.title = "exit";
tnhnrl 74:d281aaef9766 74 xbee().printf("\n\rReminder. Exit command is state FLOAT_BROADCAST\n\r");
joel_ssc 86:ba3a118b0080 75 sprintf(bux2,"\n\rin sequence().process(string): FOUND EXIT in randomstring.find \n");
joel_ssc 86:ba3a118b0080 76 mbedLogger().appendDiagFile(bux2,0);
tnhnrl 30:2964617e7676 77 loadStruct.state = FLOAT_BROADCAST; //this is the new exit condition of the dive-rise sequence (11/4/17)
tnhnrl 17:7c16b5671d0e 78 }
tnhnrl 17:7c16b5671d0e 79 /* EXIT */
tnhnrl 17:7c16b5671d0e 80
tnhnrl 17:7c16b5671d0e 81 /* DEPTH TO FLOAT */
tnhnrl 45:16b8162188ca 82 if ((signed int) randomstring.find("depth") != -1) {
tnhnrl 17:7c16b5671d0e 83 if (randomstring.find("neutral") || randomstring.find("dive")) {
tnhnrl 17:7c16b5671d0e 84 int depth_pos = randomstring.find("depth") + 6; //11 in example literally "depth="
tnhnrl 17:7c16b5671d0e 85 char depth_array[256] = {0}; //clear memory
tnhnrl 17:7c16b5671d0e 86 int depth_counter = 0;
tnhnrl 17:7c16b5671d0e 87 for (int i = depth_pos; i < randomstring.length(); i++) {
joel_ssc 86:ba3a118b0080 88 if (cstr[i] == ',')
tnhnrl 17:7c16b5671d0e 89 break;
joel_ssc 86:ba3a118b0080 90 else if (cstr[i] == ';')
tnhnrl 17:7c16b5671d0e 91 break;
tnhnrl 17:7c16b5671d0e 92 else {
joel_ssc 86:ba3a118b0080 93 depth_array[depth_counter] = cstr[i];
tnhnrl 17:7c16b5671d0e 94 depth_counter++;
tnhnrl 17:7c16b5671d0e 95 }
tnhnrl 17:7c16b5671d0e 96 }
tnhnrl 17:7c16b5671d0e 97 loadStruct.depth = atof(depth_array);
tnhnrl 17:7c16b5671d0e 98 }
tnhnrl 17:7c16b5671d0e 99 }
tnhnrl 17:7c16b5671d0e 100 /* DEPTH TO FLOAT */
tnhnrl 17:7c16b5671d0e 101
tnhnrl 17:7c16b5671d0e 102 /* PITCH TO FLOAT */
tnhnrl 45:16b8162188ca 103 if ((signed int) randomstring.find("pitch") != -1) {
tnhnrl 17:7c16b5671d0e 104 if (randomstring.find("neutral") || randomstring.find("dive")) {
tnhnrl 17:7c16b5671d0e 105 int pitch_pos = randomstring.find("pitch") + 6; //11 in example
tnhnrl 17:7c16b5671d0e 106 char pitch_array[256] = {0}; //clear memory
tnhnrl 17:7c16b5671d0e 107 int pitch_counter = 0;
tnhnrl 17:7c16b5671d0e 108 for (int i = pitch_pos; i < randomstring.length(); i++) {
tnhnrl 17:7c16b5671d0e 109 if (cstr[i] == ',')
tnhnrl 17:7c16b5671d0e 110 break;
tnhnrl 17:7c16b5671d0e 111 else if (cstr[i] == ';')
tnhnrl 17:7c16b5671d0e 112 break;
tnhnrl 17:7c16b5671d0e 113 else {
tnhnrl 17:7c16b5671d0e 114 pitch_array[pitch_counter] = cstr[i];
tnhnrl 17:7c16b5671d0e 115 pitch_counter++;
tnhnrl 17:7c16b5671d0e 116 }
tnhnrl 17:7c16b5671d0e 117 }
tnhnrl 17:7c16b5671d0e 118 loadStruct.pitch = atof(pitch_array);
tnhnrl 17:7c16b5671d0e 119 }
tnhnrl 17:7c16b5671d0e 120 }
tnhnrl 17:7c16b5671d0e 121 /* PITCH TO FLOAT */
tnhnrl 17:7c16b5671d0e 122
tnhnrl 17:7c16b5671d0e 123 /* PAUSE */
tnhnrl 45:16b8162188ca 124 if ((signed int) randomstring.find("pause") != -1) {
tnhnrl 17:7c16b5671d0e 125 loadStruct.title = "pause";
tnhnrl 17:7c16b5671d0e 126 }
tnhnrl 17:7c16b5671d0e 127 /* PAUSE */
tnhnrl 17:7c16b5671d0e 128
tnhnrl 17:7c16b5671d0e 129 /* TIME TO FLOAT */
tnhnrl 45:16b8162188ca 130 if ((signed int) randomstring.find("timeout") != -1) {
tnhnrl 45:16b8162188ca 131
tnhnrl 17:7c16b5671d0e 132 int time_pos = randomstring.find("timeout") + 8; //position of timeout + "timeout=" so 8
tnhnrl 17:7c16b5671d0e 133 char time_array[256] = {0};
tnhnrl 17:7c16b5671d0e 134 int time_counter = 0;
tnhnrl 17:7c16b5671d0e 135 for (int i = time_pos; i < randomstring.length(); i++) {
tnhnrl 74:d281aaef9766 136 //xbee().printf("time string cstr[i] = %c\n\r", cstr[i]); //debug
tnhnrl 17:7c16b5671d0e 137
tnhnrl 17:7c16b5671d0e 138 if (cstr[i] == ',')
tnhnrl 17:7c16b5671d0e 139 break;
tnhnrl 17:7c16b5671d0e 140 else if (cstr[i] == ';')
tnhnrl 17:7c16b5671d0e 141 break;
tnhnrl 17:7c16b5671d0e 142 else {
tnhnrl 74:d281aaef9766 143 //xbee().printf("time string cstr[i] = %c\n\r", cstr[i]); //debug
tnhnrl 17:7c16b5671d0e 144 time_array[time_counter] = cstr[i];
tnhnrl 17:7c16b5671d0e 145 time_counter++;
tnhnrl 17:7c16b5671d0e 146 }
tnhnrl 17:7c16b5671d0e 147 }
tnhnrl 17:7c16b5671d0e 148 loadStruct.timeout = atof(time_array);
tnhnrl 17:7c16b5671d0e 149 }
tnhnrl 17:7c16b5671d0e 150 /* TIME TO FLOAT */
tnhnrl 17:7c16b5671d0e 151
tnhnrl 45:16b8162188ca 152 // /* EXIT */
tnhnrl 45:16b8162188ca 153 // if (randomstring.find("exit") != 0) {
tnhnrl 45:16b8162188ca 154 // loadStruct.title = "exit";
tnhnrl 74:d281aaef9766 155 // xbee().printf("\n\rEXIT.");
tnhnrl 45:16b8162188ca 156 // }
tnhnrl 45:16b8162188ca 157 // /* EXIT */
tnhnrl 17:7c16b5671d0e 158
joel_ssc 82:0981b9ada820 159 return loadStruct; //each iteration of this returns a completed struct
tnhnrl 17:7c16b5671d0e 160 }
tnhnrl 17:7c16b5671d0e 161
tnhnrl 17:7c16b5671d0e 162 void SequenceController::sequenceFunction() {
tnhnrl 74:d281aaef9766 163 //xbee().printf("sequenceFunction\n\r"); //debug (verified it is working correctly)
tnhnrl 17:7c16b5671d0e 164
tnhnrl 17:7c16b5671d0e 165 int check_current_state = stateMachine().getState();
tnhnrl 74:d281aaef9766 166 xbee().printf("State Machine State: %d\n\r", check_current_state);
tnhnrl 17:7c16b5671d0e 167
tnhnrl 17:7c16b5671d0e 168 if (stateMachine().getState() == SIT_IDLE) {
tnhnrl 17:7c16b5671d0e 169 //system starts idle
tnhnrl 17:7c16b5671d0e 170 //set the state machine to the current sequence in the array
tnhnrl 17:7c16b5671d0e 171 //example, set to "dive" and set pitch and depth and timeout
tnhnrl 17:7c16b5671d0e 172
tnhnrl 17:7c16b5671d0e 173 _current_state = sequenceStructLoaded[_sequence_counter].state;
tnhnrl 74:d281aaef9766 174 xbee().printf("_current_state: %d\n\r", _current_state);
tnhnrl 74:d281aaef9766 175 xbee().printf("_sequence_counter: %d\n\r", _sequence_counter);
tnhnrl 74:d281aaef9766 176 xbee().printf("_number_of_sequences: %d\n\r", _number_of_sequences);
tnhnrl 17:7c16b5671d0e 177
tnhnrl 17:7c16b5671d0e 178 stateMachine().setState(_current_state);
tnhnrl 17:7c16b5671d0e 179 stateMachine().setDepthCommand(sequenceStructLoaded[_sequence_counter].depth);
tnhnrl 17:7c16b5671d0e 180 stateMachine().setPitchCommand(sequenceStructLoaded[_sequence_counter].pitch);
tnhnrl 17:7c16b5671d0e 181 stateMachine().setTimeout(sequenceStructLoaded[_sequence_counter].timeout);
tnhnrl 17:7c16b5671d0e 182
tnhnrl 17:7c16b5671d0e 183 if (_sequence_counter == _number_of_sequences-1) //end when you finish all of the sequences
tnhnrl 17:7c16b5671d0e 184 sequenceTicker.detach();
tnhnrl 17:7c16b5671d0e 185
tnhnrl 17:7c16b5671d0e 186 _sequence_counter++; //exit ticker when counter complete
tnhnrl 17:7c16b5671d0e 187 }
tnhnrl 17:7c16b5671d0e 188 }
tnhnrl 17:7c16b5671d0e 189
joel_ssc 82:0981b9ada820 190 int LegController::getLegState() {
tnhnrl 17:7c16b5671d0e 191 return _current_state;
joel_ssc 82:0981b9ada820 192 }
joel_ssc 82:0981b9ada820 193 LegController::LegController() {
joel_ssc 82:0981b9ada820 194 _leg_counter = 0;
joel_ssc 82:0981b9ada820 195 }
joel_ssc 82:0981b9ada820 196
joel_ssc 82:0981b9ada820 197 int LegController::loadLeg() {
joel_ssc 82:0981b9ada820 198 xbee().printf("\n\rLoading Leg commands Dive File:");
joel_ssc 82:0981b9ada820 199
joel_ssc 82:0981b9ada820 200 ConfigFile read_leg_cfg;
joel_ssc 82:0981b9ada820 201 char value[256];
joel_ssc 82:0981b9ada820 202 // char buf[256];
joel_ssc 82:0981b9ada820 203 char bux2[256];
joel_ssc 82:0981b9ada820 204 static int default_legstruct_loaded = 0;
joel_ssc 82:0981b9ada820 205 sprintf(bux2,"\n\rin loadleg(): Loading Leg commands Dive File:");
joel_ssc 82:0981b9ada820 206 mbedLogger().appendDiagFile(bux2,0);
joel_ssc 82:0981b9ada820 207
joel_ssc 82:0981b9ada820 208 if(default_legstruct_loaded == 0 ) {
joel_ssc 82:0981b9ada820 209 legStructLoaded[0] = load_def_leg(); // is this right call pointer vs item?
joel_ssc 82:0981b9ada820 210 legStructLoaded[1].title = "exit";
joel_ssc 82:0981b9ada820 211 default_legstruct_loaded = 1;
joel_ssc 82:0981b9ada820 212 }
joel_ssc 82:0981b9ada820 213 //read configuration file stored on MBED
joel_ssc 82:0981b9ada820 214 if (!read_leg_cfg.read("/local/legfile.txt")) { //legfile.txt has exact same format as sequence.txt file,with starting 0=leg,.... and ending 1=exit line
joel_ssc 82:0981b9ada820 215 xbee().printf("\n\rERROR:Failure to read legfile.txt file.");
joel_ssc 82:0981b9ada820 216 sprintf(bux2,"\n\rERROR:Failure to read legfile.txt file.");
joel_ssc 86:ba3a118b0080 217 mbedLogger().appendDiagFile(bux2,3);
joel_ssc 82:0981b9ada820 218
joel_ssc 82:0981b9ada820 219 }
joel_ssc 82:0981b9ada820 220 else {
joel_ssc 82:0981b9ada820 221 /* Read values from the file until you reach an "exit" character" */
joel_ssc 82:0981b9ada820 222 //up to 256 items in the sequence
joel_ssc 82:0981b9ada820 223 for (int i = 0; i < 256; i++) { //works
joel_ssc 82:0981b9ada820 224 /* convert INT to string */
joel_ssc 82:0981b9ada820 225 char buf[256];
joel_ssc 82:0981b9ada820 226 sprintf(buf, "%d", i); //searching for 0,1,2,3...
joel_ssc 82:0981b9ada820 227 /* convert INT to string */
joel_ssc 82:0981b9ada820 228
joel_ssc 82:0981b9ada820 229 if (read_leg_cfg.getValue(buf, &value[0], sizeof(value))) {
joel_ssc 82:0981b9ada820 230 xbee().printf("\n\rsequence %d = %s",i,value);
joel_ssc 87:6d95f853dab3 231 sprintf(bux2, "\n\r leg values sequence %d = %s\n",i,value);
joel_ssc 82:0981b9ada820 232 mbedLogger().appendDiagFile(bux2,0);
joel_ssc 82:0981b9ada820 233
joel_ssc 82:0981b9ada820 234 legStructLoaded[i] = process(value); //create the structs using process(string randomstring)
joel_ssc 82:0981b9ada820 235 }
joel_ssc 82:0981b9ada820 236
joel_ssc 82:0981b9ada820 237 if (legStructLoaded[i].title == "exit") {
joel_ssc 82:0981b9ada820 238 _number_of_legs = i; //before the exit
joel_ssc 82:0981b9ada820 239 break;
joel_ssc 82:0981b9ada820 240 }
joel_ssc 82:0981b9ada820 241 }
joel_ssc 82:0981b9ada820 242 } //end of successful read
joel_ssc 82:0981b9ada820 243 if (_number_of_legs > 0 ) {return 1; }
joel_ssc 82:0981b9ada820 244 else {return 0; }
joel_ssc 82:0981b9ada820 245 }
joel_ssc 82:0981b9ada820 246
joel_ssc 85:dd8176285b6e 247 legStruct LegController::load_def_leg() { // default leg structure and if used, will NOT start leg mode
joel_ssc 82:0981b9ada820 248 legStruct loadStruct;
joel_ssc 82:0981b9ada820 249
joel_ssc 85:dd8176285b6e 250 loadStruct.title = "sit_idle";
joel_ssc 85:dd8176285b6e 251 loadStruct.state = SIT_IDLE ; // LEG_POSITION_DIVE;
joel_ssc 82:0981b9ada820 252 loadStruct.max_depth = 15;
joel_ssc 82:0981b9ada820 253 loadStruct.min_depth = 5;
joel_ssc 85:dd8176285b6e 254 loadStruct.yo_time = 100;
joel_ssc 85:dd8176285b6e 255 loadStruct.timeout = 600;
joel_ssc 82:0981b9ada820 256 loadStruct.heading = 90;
joel_ssc 82:0981b9ada820 257 return loadStruct;
joel_ssc 82:0981b9ada820 258 }
joel_ssc 82:0981b9ada820 259
joel_ssc 82:0981b9ada820 260 legStruct LegController::process(string randomstring) {
joel_ssc 82:0981b9ada820 261 //this is the struct that is loaded from the config variables
joel_ssc 82:0981b9ada820 262
joel_ssc 82:0981b9ada820 263 legStruct loadStruct; //local struct
joel_ssc 86:ba3a118b0080 264 static int callcount=0;
joel_ssc 82:0981b9ada820 265 /* CONVERT STRING TO CHAR ARRAY */
joel_ssc 82:0981b9ada820 266 const char *cstr = randomstring.c_str();
joel_ssc 82:0981b9ada820 267 char bux2[256];
joel_ssc 82:0981b9ada820 268 /* CONVERT STRING TO CHAR ARRAY */
joel_ssc 82:0981b9ada820 269
joel_ssc 85:dd8176285b6e 270 /* leg position DIVing */
joel_ssc 82:0981b9ada820 271 //this can only be in the first position
joel_ssc 86:ba3a118b0080 272
joel_ssc 86:ba3a118b0080 273 callcount++;
joel_ssc 82:0981b9ada820 274 if ((signed int) randomstring.find("leg") != -1) {
joel_ssc 82:0981b9ada820 275 loadStruct.title = "leg";
joel_ssc 82:0981b9ada820 276 loadStruct.state = LEG_POSITION_DIVE; //NEW: separate state handles multiple dives
joel_ssc 82:0981b9ada820 277 sprintf(bux2, "\n\r process leg file: found leg label, setting state to LEG_POSITION_DIVE");
joel_ssc 82:0981b9ada820 278 mbedLogger().appendDiagFile(bux2,3);
joel_ssc 82:0981b9ada820 279 }
joel_ssc 85:dd8176285b6e 280 /* LPD */
joel_ssc 82:0981b9ada820 281
joel_ssc 87:6d95f853dab3 282 /* start-swim */
joel_ssc 87:6d95f853dab3 283 if ((signed int) randomstring.find("start_swim") != -1) {
joel_ssc 87:6d95f853dab3 284 loadStruct.title = "start_swim";
joel_ssc 87:6d95f853dab3 285 xbee().printf("\n\rLOAD start-swim %d", randomstring.find("start_swim"));
joel_ssc 87:6d95f853dab3 286 loadStruct.state = START_SWIM;
joel_ssc 87:6d95f853dab3 287 sprintf(bux2, "\n\r process leg file: found START-SWIM label, setting state to same\n");
joel_ssc 87:6d95f853dab3 288 mbedLogger().appendDiagFile(bux2,3);
joel_ssc 82:0981b9ada820 289 }
joel_ssc 87:6d95f853dab3 290 /* start-swim */
joel_ssc 87:6d95f853dab3 291 /* flying_idle */
joel_ssc 87:6d95f853dab3 292 if ((signed int) randomstring.find("flying_idle") != -1) {
joel_ssc 87:6d95f853dab3 293 loadStruct.title = "flying_idle";
joel_ssc 87:6d95f853dab3 294 xbee().printf("\n\rLOAD flying-idle found at %d", randomstring.find("flying_idle"));
joel_ssc 87:6d95f853dab3 295 loadStruct.state = FLYING_IDLE;
joel_ssc 87:6d95f853dab3 296 sprintf(bux2, "\n\r process leg file: found FLYING_IDLE label, setting state to FLYING_IDLE \n");
joel_ssc 87:6d95f853dab3 297 mbedLogger().appendDiagFile(bux2,3);
joel_ssc 87:6d95f853dab3 298 }
joel_ssc 87:6d95f853dab3 299 /* flying_idle */
joel_ssc 82:0981b9ada820 300 /* EXIT */
joel_ssc 82:0981b9ada820 301 if ((signed int) randomstring.find("exit") != -1) {
joel_ssc 82:0981b9ada820 302 loadStruct.title = "exit";
joel_ssc 82:0981b9ada820 303 xbee().printf("\n\rReminder. Exit command is state FLOAT_BROADCAST\n\r");
joel_ssc 82:0981b9ada820 304 loadStruct.state = FLOAT_BROADCAST; //this is the new exit condition of the dive-rise sequence (11/4/17)
joel_ssc 87:6d95f853dab3 305 sprintf(bux2, "\n\r process(valuestring) legfile: found exit key. Callcount=%d\n", callcount);
joel_ssc 82:0981b9ada820 306 mbedLogger().appendDiagFile(bux2,3);
joel_ssc 82:0981b9ada820 307 }
joel_ssc 82:0981b9ada820 308 /* EXIT */
joel_ssc 82:0981b9ada820 309
joel_ssc 82:0981b9ada820 310 /* max DEPTH TO cycle to */
joel_ssc 82:0981b9ada820 311
joel_ssc 82:0981b9ada820 312 if ((signed int) randomstring.find("max_depth") != -1) {
joel_ssc 87:6d95f853dab3 313
joel_ssc 87:6d95f853dab3 314 int depth_pos = randomstring.find("max_depth") + 10; //11 in example literally "depth="
joel_ssc 87:6d95f853dab3 315 char depth_array[256] = {0}; //clear memory
joel_ssc 87:6d95f853dab3 316 int depth_counter = 0;
joel_ssc 87:6d95f853dab3 317 for (int i = depth_pos; i < randomstring.length(); i++) {
joel_ssc 87:6d95f853dab3 318 if (cstr[i] == ',')
joel_ssc 87:6d95f853dab3 319 break;
joel_ssc 87:6d95f853dab3 320 else if (cstr[i] == ';')
joel_ssc 87:6d95f853dab3 321 break;
joel_ssc 87:6d95f853dab3 322 else {
joel_ssc 87:6d95f853dab3 323 depth_array[depth_counter] = cstr[i];
joel_ssc 87:6d95f853dab3 324 depth_counter++;
joel_ssc 82:0981b9ada820 325 }
joel_ssc 82:0981b9ada820 326 }
joel_ssc 87:6d95f853dab3 327 loadStruct.max_depth = atof(depth_array);
joel_ssc 87:6d95f853dab3 328 sprintf(bux2, "\n\r process legfile: key=max_depth val=%g process(legstring)count=%d \n", atof(depth_array), callcount);
joel_ssc 87:6d95f853dab3 329 mbedLogger().appendDiagFile(bux2,3);
joel_ssc 87:6d95f853dab3 330
joel_ssc 87:6d95f853dab3 331 }
joel_ssc 82:0981b9ada820 332
joel_ssc 82:0981b9ada820 333
joel_ssc 87:6d95f853dab3 334 if ((signed int) randomstring.find("min_depth") != -1) {
joel_ssc 87:6d95f853dab3 335
joel_ssc 87:6d95f853dab3 336 int depth_pos = randomstring.find("min_depth") + 10; //11 in example literally "depth="
joel_ssc 87:6d95f853dab3 337 char depth_array[256] = {0}; //clear memory
joel_ssc 87:6d95f853dab3 338 int depth_counter = 0;
joel_ssc 87:6d95f853dab3 339 for (int i = depth_pos; i < randomstring.length(); i++) {
joel_ssc 87:6d95f853dab3 340 if (cstr[i] == ',')
joel_ssc 87:6d95f853dab3 341 break;
joel_ssc 87:6d95f853dab3 342 else if (cstr[i] == ';')
joel_ssc 87:6d95f853dab3 343 break;
joel_ssc 87:6d95f853dab3 344 else {
joel_ssc 87:6d95f853dab3 345 depth_array[depth_counter] = cstr[i];
joel_ssc 87:6d95f853dab3 346 depth_counter++;
joel_ssc 82:0981b9ada820 347 }
joel_ssc 87:6d95f853dab3 348 }
joel_ssc 87:6d95f853dab3 349 loadStruct.min_depth = atof(depth_array);
joel_ssc 87:6d95f853dab3 350 sprintf(bux2, "\n\r process legfile: key=min_depth val=%g \n", atof(depth_array));
joel_ssc 87:6d95f853dab3 351 mbedLogger().appendDiagFile(bux2,3);
joel_ssc 87:6d95f853dab3 352
joel_ssc 87:6d95f853dab3 353 }
joel_ssc 87:6d95f853dab3 354 if ((signed int) randomstring.find("heading") != -1) {
joel_ssc 87:6d95f853dab3 355
joel_ssc 82:0981b9ada820 356 int depth_pos = randomstring.find("heading") + 8; //11 in example literally "depth="
joel_ssc 82:0981b9ada820 357 char depth_array[256] = {0}; //clear memory
joel_ssc 82:0981b9ada820 358 int depth_counter = 0;
joel_ssc 82:0981b9ada820 359 for (int i = depth_pos; i < randomstring.length(); i++) {
joel_ssc 87:6d95f853dab3 360 if (cstr[i] == ',')
joel_ssc 82:0981b9ada820 361 break;
joel_ssc 87:6d95f853dab3 362 else if (cstr[i] == ';')
joel_ssc 82:0981b9ada820 363 break;
joel_ssc 82:0981b9ada820 364 else {
joel_ssc 87:6d95f853dab3 365 depth_array[depth_counter] = cstr[i];
joel_ssc 82:0981b9ada820 366 depth_counter++;
joel_ssc 87:6d95f853dab3 367 }
joel_ssc 82:0981b9ada820 368 }
joel_ssc 82:0981b9ada820 369 loadStruct.heading = atof(depth_array);
joel_ssc 82:0981b9ada820 370 sprintf(bux2, "\n\r process legfile: key=heading val=%g \n", atof(depth_array));
joel_ssc 87:6d95f853dab3 371 mbedLogger().appendDiagFile(bux2,3);
joel_ssc 87:6d95f853dab3 372
joel_ssc 87:6d95f853dab3 373 }
joel_ssc 82:0981b9ada820 374 /* DEPTH TO FLOAT */
joel_ssc 82:0981b9ada820 375
joel_ssc 82:0981b9ada820 376
joel_ssc 82:0981b9ada820 377
joel_ssc 82:0981b9ada820 378 /* PAUSE */
joel_ssc 82:0981b9ada820 379 if ((signed int) randomstring.find("pause") != -1) {
joel_ssc 82:0981b9ada820 380 loadStruct.title = "pause";
joel_ssc 82:0981b9ada820 381 }
joel_ssc 82:0981b9ada820 382 /* PAUSE */
joel_ssc 82:0981b9ada820 383
joel_ssc 85:dd8176285b6e 384 /* TIME TO maintain leg yo-yo operations */
joel_ssc 82:0981b9ada820 385 if ((signed int) randomstring.find("timeout") != -1) {
joel_ssc 82:0981b9ada820 386
joel_ssc 82:0981b9ada820 387 int time_pos = randomstring.find("timeout") + 8; //position of timeout + "timeout=" so 8
joel_ssc 82:0981b9ada820 388 char time_array[256] = {0};
joel_ssc 82:0981b9ada820 389 int time_counter = 0;
joel_ssc 82:0981b9ada820 390 for (int i = time_pos; i < randomstring.length(); i++) {
joel_ssc 82:0981b9ada820 391 //xbee().printf("time string cstr[i] = %c\n\r", cstr[i]); //debug
joel_ssc 82:0981b9ada820 392
joel_ssc 82:0981b9ada820 393 if (cstr[i] == ',')
joel_ssc 82:0981b9ada820 394 break;
joel_ssc 82:0981b9ada820 395 else if (cstr[i] == ';')
joel_ssc 82:0981b9ada820 396 break;
joel_ssc 82:0981b9ada820 397 else {
joel_ssc 82:0981b9ada820 398 //xbee().printf("time string cstr[i] = %c\n\r", cstr[i]); //debug
joel_ssc 82:0981b9ada820 399 time_array[time_counter] = cstr[i];
joel_ssc 82:0981b9ada820 400 time_counter++;
joel_ssc 82:0981b9ada820 401 }
joel_ssc 82:0981b9ada820 402 }
joel_ssc 82:0981b9ada820 403 loadStruct.timeout = atof(time_array);
joel_ssc 82:0981b9ada820 404 sprintf(bux2, "\n\r process legfile: key=timeout val=%g \n", atof(time_array));
joel_ssc 82:0981b9ada820 405 mbedLogger().appendDiagFile(bux2,3);
joel_ssc 82:0981b9ada820 406 }
joel_ssc 82:0981b9ada820 407 // yo_time is to avoid a single down/or up segment going on too long - maybe 10 minutes?
joel_ssc 82:0981b9ada820 408 if ((signed int) randomstring.find("yo_time") != -1) {
joel_ssc 82:0981b9ada820 409
joel_ssc 82:0981b9ada820 410 int time_pos = randomstring.find("yo_time") + 8; //position of timeout + "timeout=" so 8
joel_ssc 82:0981b9ada820 411 char time_array[256] = {0};
joel_ssc 82:0981b9ada820 412 int time_counter = 0;
joel_ssc 82:0981b9ada820 413 for (int i = time_pos; i < randomstring.length(); i++) {
joel_ssc 82:0981b9ada820 414 //xbee().printf("time string cstr[i] = %c\n\r", cstr[i]); //debug
joel_ssc 82:0981b9ada820 415
joel_ssc 82:0981b9ada820 416 if (cstr[i] == ',')
joel_ssc 82:0981b9ada820 417 break;
joel_ssc 82:0981b9ada820 418 else if (cstr[i] == ';')
joel_ssc 82:0981b9ada820 419 break;
joel_ssc 82:0981b9ada820 420 else {
joel_ssc 82:0981b9ada820 421 //xbee().printf("time string cstr[i] = %c\n\r", cstr[i]); //debug
joel_ssc 82:0981b9ada820 422 time_array[time_counter] = cstr[i];
joel_ssc 82:0981b9ada820 423 time_counter++;
joel_ssc 82:0981b9ada820 424 }
joel_ssc 82:0981b9ada820 425 }
joel_ssc 82:0981b9ada820 426 loadStruct.yo_time = atof(time_array);
joel_ssc 82:0981b9ada820 427 sprintf(bux2, "\n\r process legfile: key=yo_time val=%g \n", atof(time_array));
joel_ssc 82:0981b9ada820 428 mbedLogger().appendDiagFile(bux2,3);
joel_ssc 82:0981b9ada820 429 }
joel_ssc 82:0981b9ada820 430 /* TIME TO FLOAT */
joel_ssc 82:0981b9ada820 431
joel_ssc 82:0981b9ada820 432 // /* EXIT */
joel_ssc 82:0981b9ada820 433 // if (randomstring.find("exit") != 0) {
joel_ssc 82:0981b9ada820 434 // loadStruct.title = "exit";
joel_ssc 82:0981b9ada820 435 // xbee().printf("\n\rEXIT.");
joel_ssc 82:0981b9ada820 436 // }
joel_ssc 82:0981b9ada820 437 // /* EXIT */
joel_ssc 82:0981b9ada820 438
joel_ssc 82:0981b9ada820 439 return loadStruct; //each iteration this returns a completed struct
joel_ssc 82:0981b9ada820 440 }