Diff: StateMachine/StateMachine.cpp

Revision:

45:16b8162188ca

Parent:

39:58375ca6b6ff

Child:

49:47ffa4feb6db

--- a/StateMachine/StateMachine.cpp	Wed Feb 14 21:58:44 2018 +0000
+++ b/StateMachine/StateMachine.cpp	Thu Feb 15 02:39:13 2018 +0000
@@ -55,7 +55,9 @@
 }
  
 //Finite State Machine (FSM)
-int StateMachine::runStateMachine() {         
+int StateMachine::runStateMachine() {   
+    static int transmit_packet_number = 1;  //for data transmission
+          
     // finite state machine ... each state has at least one exit criteria
     switch (_state) {
     case SIT_IDLE :
@@ -556,29 +558,72 @@
         
         break; 
         
-    case TRANSMIT_DATA :               
+    case TRANSMIT_LOG:        
         if (!_isTimeoutRunning) {
-            pc().printf("\r\n\nstate: TRANSMIT_DATA\r\n");
+            pc().printf("\r\n\nstate: TRANSMIT_LOG\r\n");
             timer.reset(); // timer goes back to zero
             timer.start(); // background timer starts running
             _isTimeoutRunning = true; 
             
-            // what needs to be started?
- 
-            // what are the commands?
-            recordData(_state);
+            mbedLogger().getNumberOfPacketsInCurrentLog();   //open the file, read the number of lines in the log file            
+            transmit_packet_number = mbedLogger().getNumberOfPackets();
+            
+            //pc().printf("getNumberOfPacketsInCurrentLog is %d\n\r", transmit_packet_number);
+        }
+        
+        if (timer.read() > _timeout) {
+            pc().printf("\n\rTRANSMIT_LOG: timed out!\n\r");
+            _state = SIT_IDLE;
+            timer.reset();
+            _isTimeoutRunning = false;
+            
+            mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading
+        }
+        
+        //IF THIS IS ZERO
+        if (mbedLogger().currentPacketNumber() > transmit_packet_number) {
+            pc().printf("mbedLogger().currentPacketNumber() > transmit_packet_number");    
+            _state = SIT_IDLE;
+            timer.reset();
+            _isTimeoutRunning = false;
+            
+            mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading
         }
+        
+        if (mbedLogger().isTransmissionComplete()) {
+            pc().printf("StateMachine isTransmissionComplete (true)\n\r");
+            _state = SIT_IDLE;
+            timer.reset();
+            _isTimeoutRunning = false;
+            
+            mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading
+        }
+            
  
-        // how exit?
+        // what is active? (no hardware should be active)
+        mbedLogger().readTransmitPacketOneChar();   //led2 shows you pc readable
+                
+        break; 
+        
+    case RECEIVE_SEQUENCE :
+        pc().printf("state: RECEIVE_SEQUENCE\n\r");
+    
+        if (!_isTimeoutRunning) {
+            pc().printf("RECEIVE_SEQUENCE _isTimeoutRunning\r\n");
+            timer.reset(); // timer goes back to zero
+            timer.start(); // background timer starts running
+            _isTimeoutRunning = true; 
+        }
+        
         if (timer.read() > _timeout) {
-            pc().printf("TRANSMIT_DATA: timed out\n\n\r");
+            pc().printf("RECEIVE_SEQUENCE: timed out!\n\r");
             _state = SIT_IDLE;
             timer.reset();
             _isTimeoutRunning = false;
         }
         
-        //action
-        transmitData();
+        // what is active?
+        pc().printf("Receive sequence active?\n\r");
         
         break;
     
@@ -872,16 +917,16 @@
             
             pc().printf("Starting Dive Sequence Controller! (state: %d)\n\r", _keyboard_state);  //neutral sequence and dive cycles
         }
-        else if (userInput == 'R' or userInput == 'r') {
+        else if (userInput == 'R') {
             _keyboard_state = RISE;
         }
-        else if (userInput == 'L' or userInput == 'l') {
+        else if (userInput == 'L') {
             _keyboard_state = FLOAT_LEVEL;
         }
-        else if (userInput == 'B' or userInput == 'b') {
+        else if (userInput == 'B') {
             _keyboard_state = FLOAT_BROADCAST;
         }
-        else if (userInput == 'E' or userInput == 'e') {
+        else if (userInput == 'E') {
             _keyboard_state = EMERGENCY_CLIMB;
         }
         else if (userInput == 'P') {
@@ -890,18 +935,12 @@
             mbedLogger().printCurrentLogFile();        //print the current log file to the screen
         }
         else if (userInput == 'X') {
-            printDirectory();
-            //mbedLogger().printDirectory();        //print all log files to the screen
-        }
-        else if (userInput == 'V') {
-            _keyboard_state = TRANSMIT_DATA;      //Transmit data (work in progress)
+            mbedLogger().printMbedDirectory();        //print all log files to the screen
         }
-//        else if (userInput == 'H' or userInput == 'h') {
-//            pc().printf("running homing procedure\r\n");
-//            bce().unpause();  bce().homePiston();  bce().pause();
-//            batt().unpause(); batt().homePiston(); batt().pause();
-//        }
-        else if (userInput == 'z' or userInput == 'Z') {
+        else if (userInput == 'O') {
+            _keyboard_state = TRANSMIT_LOG;      //Transmit data (work in progress)
+        }
+        else if (userInput == 'Z') {
             pc().printf("FSG FSM States: \n\r");
             string string_state;
             
@@ -1390,35 +1429,6 @@
     _timeout = currentStateStruct.timeout;  //set timeout before exiting this function
 }
 
-void StateMachine::printDirectory() {
-    //create a DirectoryList object that points to the local directory
-    DirectoryList mbed_dir( "/local" );
- 
-    if ( mbed_dir.error_check() ) {
-        //error( "MBED directory could not be opened\r\n" );
-        pc().printf("MBED directory could not be opened\r\n");
-    }
-    
-    else {
-        pc().printf("\n\rFiles in MBED directory:\n\r");
-        for ( int i = 0; i < mbed_dir.size(); i++ )
-            pc().printf( "%s\r\n", mbed_dir[ i ].c_str() );
-    }
-    
-    //SD CARD DIRECTORY (does not work for openlog)
-    DirectoryList sd_dir( "/sd" );
- 
-    if ( sd_dir.error_check() ) {
-        //error( "MBED directory could not be opened\r\n" );
-        pc().printf("SD directory could not be opened\r\n");
-    }
-    else {
-        pc().printf("\n\rFiles in SD card directory:\n\r");
-        for ( int i = 0; i < sd_dir.size(); i++ )
-            pc().printf( "%s\r\n", sd_dir[ i ].c_str() );
-    }
-}
-
 void StateMachine::printCurrentSdLog() {
     pc().printf("SD card log work in progress\n\r");
     //might be worth saving the last few logs to the MBED...