Diff: StateMachine/StateMachine.cpp

Revision:

68:8f549749b8ce

Parent:

67:c86a4b464682

Child:

69:919ac8d7e023

--- a/StateMachine/StateMachine.cpp	Mon Jun 25 15:44:00 2018 +0000
+++ b/StateMachine/StateMachine.cpp	Wed Jun 27 23:01:53 2018 +0000
@@ -69,7 +69,7 @@
     // finite state machine ... each state has at least one exit criteria
     switch (_state) {
     case SIT_IDLE :
-    case KEYBOARD:
+    case KEYBOARD:    
         // there actually is no timeout for SIT_IDLE, but this enables some one-shot actions
         if (!_isTimeoutRunning) {
             
@@ -643,8 +643,8 @@
             //reset multi-dive sequence to start
             _multi_dive_counter = 0;
             
-            //Reload the dive sequence on exit
-            sequenceController().loadSequence();
+//            //Reload the dive sequence on exit
+//            sequenceController().loadSequence();
         }
         else if (depthLoop().getPosition() < 0.5) { // depth is less than 0.5 (zero is surface level)
             pc().printf("MULTI-RISE: depth: %3.1f, cmd: %3.1f\r\n", depthLoop().getPosition(), depthLoop().getCommand());
@@ -661,8 +661,8 @@
             //check if this is the end of the dive sequence
             //CHECK BEFORE ANYTHING ELSE that you have reached the "exit" state (FLOAT_BROADCAST)
             if (currentStateStruct.state == FLOAT_BROADCAST) {
-                //Reload the dive sequence on exit
-                sequenceController().loadSequence();
+//                //Reload the dive sequence on exit
+//                sequenceController().loadSequence();
             
                 _state = FLOAT_BROADCAST;
             }
@@ -689,20 +689,19 @@
             timer.start(); // background timer starts running
             _isTimeoutRunning = true; 
             
-            mbedLogger().getNumberOfPacketsInCurrentLog();   //open the file, read the number of lines in the log file            
-            transmit_packet_number = mbedLogger().getNumberOfPackets();
+            //mbedLogger().openFileForTransmit();     //starts _fp file pointer at the beginning of the file
+            
+            pc().printf("TRANSMIT_MBED_LOG set to zero\n\r");
             
-        //set the timeout internally (integer value)!
-            _timeout = mbedLogger().getLogSize(); //works after current log function above
-            _timeout = _timeout - (_timeout % 10) + 10; //remove the last digit and keep it as multiples of 10 (add a buffer of 10 seconds just in case it's below 10)
-      
-            //STATE
-            //TRANSMIT_MBED_LOG
+            //get number of packets (lines in the file)
+            mbedLogger().getNumberOfPacketsInCurrentLog();
+            
+            mbedLogger().setTransmitPacketNumber(0); //reset to zero
         }
         
         if (timer.read() > _timeout) {
-            mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading
-            pc().printf("\r\nTRANSMIT_MBED_LOG: timed out!\r\n");
+            //mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading
+            //pc().printf("\r\nTRANSMIT_MBED_LOG: timed out!\r\n");
             
             //STATE
             _state = SIT_IDLE;
@@ -712,25 +711,36 @@
             
             //send a command to the Python GUI to stop looking for data
             //SEND COMMAND WHEN TRANSMISSION ENDS PREMATURELY
-            pc().printf("%c%c%c%c",0x15,0x15,0x15,0x15);
+            //pc().printf("%c%c%c%c",0x15,0x15,0x15,0x15);
+            
+            mbedLogger().closeLogFile();   //test 6/27
+            pc().printf("\r\n\nstate: TRANSMIT_MBED_LOG (log filed closed)\r\n");
         }
         
         //IF THIS IS ZERO
-        if (mbedLogger().currentPacketNumber() > transmit_packet_number) {
-            pc().printf("mbedLogger().currentPacketNumber() > transmit_packet_number");    
-            
-            //STATE
+//        if (mbedLogger().currentPacketNumber() > transmit_packet_number) {
+//            pc().printf("mbedLogger().currentPacketNumber() > transmit_packet_number");    
+//            
+//            //STATE
+//            _state = SIT_IDLE;
+//            
+//            timer.reset();
+//            _isTimeoutRunning = false;
+//            
+//            mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading
+//        }
+        
+        //What is active?
+        
+        //boolean function that transmits until it's finished
+        if (mbedLogger().fsmTransmitData())
+            ;
+        else {
+            mbedLogger().closeLogFile();
+            pc().printf("StateMachine: TRANSMIT_MBED_LOG (closeLogFile)\n\r");
             _state = SIT_IDLE;
-            
-            timer.reset();
-            _isTimeoutRunning = false;
-            
-            mbedLogger().closeLogFile(); //on timeout close the log file that was opened for reading
         }
         
-        //What is active?
-        mbedLogger().readTransmitPacketOneChar();   //led2 shows you pc readable
-                
         break; 
         
     case RECEIVE_SEQUENCE :
@@ -778,7 +788,7 @@
  
 // output the keyboard menu for user's reference
 void StateMachine::showSimpleMenu() {   
-    pc().printf("\r\r\n\nSIMPLE KEYBOARD MENU (06/22/2018):\r\r\n");        //make sure depth sensor tares itself on startup
+    pc().printf("\r\r\n\nSIMPLE KEYBOARD MENU (06/27/2018):\r\r\n");        //make sure depth sensor tares itself on startup
     pc().printf(" Neutral Positions BCE: %0.1f BMM: %0.1f \r\n", _neutral_bce_pos_mm, _neutral_batt_pos_mm);
     
     pc().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
@@ -787,6 +797,7 @@
     pc().printf(" E to initiate emergency climb\r\n");
     pc().printf(" P to print the current log file.\r\n");
     pc().printf(" O to transmit current log file.\r\n");
+    pc().printf(" G to MBED_TRANSMIT_LOG\r\n");
     pc().printf(" ~ to erase mbed log file. (clear before logging more than a few runs)\r\n");
     
     pc().printf("k/l to decrease/increase BCE offset: %3.1f (Dive POS: %0.1f, Rise POS: %0.1f)\r\n",_BCE_dive_offset, _neutral_bce_pos_mm - _BCE_dive_offset, _neutral_bce_pos_mm + _BCE_dive_offset);
@@ -806,7 +817,7 @@
 }
 
 void StateMachine::showDebugMenu() {
-    pc().printf("\r\r\n\nDEBUG KEYBOARD MENU (06/22/2018):\r\r\n");
+    pc().printf("\r\r\n\nDEBUG KEYBOARD MENU (06/27/2018):\r\r\n");
     pc().printf(" Y to go into CHECK NEUTRAL TUNING (This is on a timer! Uses NEUTRAL positions!)\r\n");
     pc().printf(" V to POSITION DIVE (initiate motor position-based dive cycle)\r\n");
     pc().printf(" N to find neutral\r\n");
@@ -1102,6 +1113,11 @@
                 //need to add method to Sequence Controller that returns -1 
                 //   or some check that insures you cannot run the dive sequence without a file
                 
+                //load sequence from file
+                _multi_dive_counter = 0;
+                sequenceController().loadSequence();
+                wait(1);    //test if this resets the sequence
+                
                 stateMachine().getDiveSequence();               //get first sequence on keyboard press
                 _keyboard_state = currentStateStruct.state;
                 
@@ -1138,7 +1154,7 @@
                 mbedLogger().printMbedDirectory();        //print all log files to the screen
             }
             else if (user_input == 'O') {
-                _keyboard_state = TRANSMIT_MBED_LOG;      //Transmit data (work in progress)
+                mbedLogger().continuouslyTransmitDataNoTimer();         //_keyboard_state = TRANSMIT_MBED_LOG;      //Transmit data (work in progress)
             }
             else if (user_input == 'I') {
                 mbedLogger().receiveMissionDataWithTicker();    //receive sequence.txt files
@@ -1401,8 +1417,13 @@
                 mbedLogger().printCurrentLogFile();        //print the current log file to the screen
             }
             else if (user_input == 'O') {
-                _keyboard_state = TRANSMIT_MBED_LOG;      //Transmit data (work in progress)
+                mbedLogger().continuouslyTransmitDataNoTimer();
             }
+            
+            else if (user_input == 'G') {
+                _keyboard_state = TRANSMIT_MBED_LOG;
+            }
+            
             else if (user_input == '~') {
                 pc().printf("ERASING MBED LOG FILE\r\n"); 
                 mbedLogger().eraseFile();
@@ -1417,14 +1438,21 @@
                 float vmeasured = 0;
                 unsigned int raw = adc().readCh5();
                 vmeasured = ((float)raw)/4095.0*vref;
+                
+                //same equations in mbed logger
+                float press_xducer_PSI = (22.029*(5.0*adc().readCh5()/4095.0) + 10.884) * 0.145038; // Press_Xducer (on-board)
+                float voltage_input = (adc().readCh6()/4095.0) * 5.0 * 7.8;   //tnh
+                float current_input = adc().readCh7()/4095.0;
+                
                 pc().printf("raw BCE pos: %d \r\n",adc().readCh0());
                 pc().printf("raw BMM pos: %d \r\n",adc().readCh1());
                 pc().printf("raw BCE current sense: %d \r\n",adc().readCh2());
                 pc().printf("raw BMM current sense: %d \r\n",adc().readCh3());
                 pc().printf("raw depth pressure: %d \r\n",adc().readCh4());
-                pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
-                pc().printf("raw battery voltage: %d \r\n",adc().readCh6());
-                pc().printf("raw board current: %d \r\n",adc().readCh7());
+                pc().printf("raw vessel pressure %d (internal psi: %0.1f)\r\n", adc().readCh5(),press_xducer_PSI);
+                //pc().printf("raw vessel pressure: %d \r\n",adc().readCh5());
+                pc().printf("raw board voltage: %d (%0.1f volts)\r\n",adc().readCh6(),voltage_input);
+                pc().printf("raw board current: %d (%0.3f amps)\r\n",adc().readCh7(), current_input);
                 pc().printf("raw BCE limit switch: %d \r\n",bce().getSwitch());
                 pc().printf("raw BMM limit switch: %d \r\n",batt().getSwitch());
                 pc().printf("raw vessel pressure: %f %d \r\n",vmeasured,raw);