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Dependencies:   mbed MODSERIAL FATFileSystem

ConfigFileIO/ConfigFileIO.cpp@99:9d0849f5fcd7, 2019-06-28 (annotated)

Committer:
CodyMarquardt
Date:
Fri Jun 28 13:59:11 2019 +0000
Revision:
99:9d0849f5fcd7
Parent:
95:1aac4086928a 
Program has bugs. Committing in order to access in MBED studio to debug

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
CodyMarquardt 99:9d0849f5fcd7 86
joel_ssc 82:0981b9ada820 87 if (!write_logvers_txt.write("/local/logvers.txt")) {
joel_ssc 82:0981b9ada820 88 xbee().printf("\n\rERROR: (SAVE)Failure to write logvers.txt file.");
joel_ssc 82:0981b9ada820 89 }
joel_ssc 82:0981b9ada820 90 else {
CodyMarquardt 99:9d0849f5fcd7 91 xbee().printf("\n\rFile logvers.txt successful written.\n\r");
joel_ssc 82:0981b9ada820 92 }
CodyMarquardt 99:9d0849f5fcd7 93 wait(1);
joel_ssc 82:0981b9ada820 94 }
tnhnrl 57:ec69651c8c21 95
tnhnrl 73:f6f378311c8d 96 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 97 ConfigFile write_pitch_txt; //write to the config file
tnhnrl 57:ec69651c8c21 98
tnhnrl 57:ec69651c8c21 99 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 100 sprintf(PGain_buffer,"# pitch outer loop parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 101
tnhnrl 57:ec69651c8c21 102 char string_pgain[128];
tnhnrl 73:f6f378311c8d 103 sprintf(string_pgain, "%f", pitch_p_gain);
tnhnrl 57:ec69651c8c21 104 write_pitch_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 105
tnhnrl 57:ec69651c8c21 106 char string_igain[128];
tnhnrl 73:f6f378311c8d 107 sprintf(string_igain, "%f", pitch_i_gain);
tnhnrl 57:ec69651c8c21 108 write_pitch_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 109
tnhnrl 57:ec69651c8c21 110 char string_dgain[128];
tnhnrl 73:f6f378311c8d 111 sprintf(string_dgain, "%f", pitch_d_gain);
tnhnrl 57:ec69651c8c21 112 write_pitch_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 113
tnhnrl 73:f6f378311c8d 114 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 115 sprintf(string_filter_freq, "%f", pitch_filter_freq);
tnhnrl 73:f6f378311c8d 116 write_pitch_txt.setValue("\n#Pitch sensor filter parameters\nfilterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 117
tnhnrl 73:f6f378311c8d 118 char string_deadband[128];
tnhnrl 73:f6f378311c8d 119 sprintf(string_deadband, "%f", pitch_deadband);
tnhnrl 73:f6f378311c8d 120 write_pitch_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 121
tnhnrl 57:ec69651c8c21 122 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 123 sprintf(string_zeroOffset, "%f", pitch_zeroOffset);
tnhnrl 57:ec69651c8c21 124 //bce setting was 41 mm during LASR experiments
tnhnrl 57:ec69651c8c21 125 write_pitch_txt.setValue("\n#Offset for neutral (default: 41)\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 126
tnhnrl 57:ec69651c8c21 127 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 128 xbee().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 57:ec69651c8c21 129
tnhnrl 57:ec69651c8c21 130 if (!write_pitch_txt.write("/local/pitch.txt")) {
tnhnrl 74:d281aaef9766 131 xbee().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 57:ec69651c8c21 132 }
tnhnrl 57:ec69651c8c21 133 else {
tnhnrl 74:d281aaef9766 134 xbee().printf("\n\rFile pitch.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 135 }
tnhnrl 57:ec69651c8c21 136 }
tnhnrl 57:ec69651c8c21 137
tnhnrl 76:c802e1da4179 138 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 139 ConfigFile write_BCE_txt; //write to the config file
tnhnrl 57:ec69651c8c21 140
tnhnrl 57:ec69651c8c21 141 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 142 sprintf(PGain_buffer,"# configuration file for BCE parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 143
tnhnrl 57:ec69651c8c21 144 char string_pgain[128];
tnhnrl 73:f6f378311c8d 145 sprintf(string_pgain, "%f", bce_p_gain);
tnhnrl 57:ec69651c8c21 146 write_BCE_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 147
tnhnrl 57:ec69651c8c21 148 char string_igain[128];
tnhnrl 73:f6f378311c8d 149 sprintf(string_igain, "%f", bce_i_gain);
tnhnrl 57:ec69651c8c21 150 write_BCE_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 151
tnhnrl 57:ec69651c8c21 152 char string_dgain[128];
tnhnrl 73:f6f378311c8d 153 sprintf(string_dgain, "%f", bce_d_gain);
tnhnrl 57:ec69651c8c21 154 write_BCE_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 155
tnhnrl 73:f6f378311c8d 156 char string_zeroCounts[128];
tnhnrl 76:c802e1da4179 157 sprintf(string_zeroCounts, "%d", bce_zeroOffset);
tnhnrl 73:f6f378311c8d 158 write_BCE_txt.setValue("\n#string pot parameters\nzeroCounts", string_zeroCounts);
tnhnrl 73:f6f378311c8d 159
tnhnrl 79:3688c3a0d7f4 160 //modified this from hard-coded values to set to whatever is in the file on startup
tnhnrl 79:3688c3a0d7f4 161 char string_bce_travel_limit[128];
tnhnrl 79:3688c3a0d7f4 162 sprintf(string_bce_travel_limit, "%f", batt().getTravelLimit());
tnhnrl 79:3688c3a0d7f4 163 write_BCE_txt.setValue("PistonTravelLimit", string_bce_travel_limit);
tnhnrl 79:3688c3a0d7f4 164
tnhnrl 57:ec69651c8c21 165 write_BCE_txt.setValue("slope", "0.12176");
tnhnrl 73:f6f378311c8d 166
tnhnrl 73:f6f378311c8d 167 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 168 sprintf(string_filter_freq, "%f", bce_filter_freq);
tnhnrl 73:f6f378311c8d 169 write_BCE_txt.setValue("filterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 170
tnhnrl 73:f6f378311c8d 171 char string_deadband[128];
tnhnrl 73:f6f378311c8d 172 sprintf(string_deadband, "%f", bce_deadband);
tnhnrl 73:f6f378311c8d 173 write_BCE_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 174
tnhnrl 57:ec69651c8c21 175 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 176 xbee().printf("Saving BCE PID data!");
tnhnrl 57:ec69651c8c21 177
tnhnrl 57:ec69651c8c21 178 if (!write_BCE_txt.write("/local/bce.txt")) {
tnhnrl 74:d281aaef9766 179 xbee().printf("\n\rERROR: (SAVE)Failure to write bce.txt file.");
tnhnrl 57:ec69651c8c21 180 }
tnhnrl 57:ec69651c8c21 181 else {
tnhnrl 74:d281aaef9766 182 xbee().printf("\n\rFile bce.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 183 }
tnhnrl 57:ec69651c8c21 184 }
tnhnrl 57:ec69651c8c21 185
tnhnrl 73:f6f378311c8d 186 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 187 ConfigFile write_depth_txt; //write to the config file
tnhnrl 57:ec69651c8c21 188
tnhnrl 57:ec69651c8c21 189 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 190 sprintf(PGain_buffer,"# depth outer loop parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 191
tnhnrl 57:ec69651c8c21 192 char string_pgain[128];
tnhnrl 73:f6f378311c8d 193 sprintf(string_pgain, "%f", depth_p_gain);
tnhnrl 57:ec69651c8c21 194 write_depth_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 195
tnhnrl 57:ec69651c8c21 196 char string_igain[128];
tnhnrl 73:f6f378311c8d 197 sprintf(string_igain, "%f", depth_i_gain);
tnhnrl 57:ec69651c8c21 198 write_depth_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 199
tnhnrl 57:ec69651c8c21 200 char string_dgain[128];
tnhnrl 73:f6f378311c8d 201 sprintf(string_dgain, "%f", depth_d_gain);
tnhnrl 57:ec69651c8c21 202 write_depth_txt.setValue("DGain", string_dgain);
tnhnrl 73:f6f378311c8d 203
tnhnrl 73:f6f378311c8d 204 char string_filter_freq[128];
tnhnrl 73:f6f378311c8d 205 sprintf(string_filter_freq, "%f", depth_filter_freq);
tnhnrl 73:f6f378311c8d 206 write_depth_txt.setValue("\n#Depth sensor filter parameters\nfilterWn", string_filter_freq);
tnhnrl 73:f6f378311c8d 207
tnhnrl 73:f6f378311c8d 208 char string_deadband[128];
tnhnrl 73:f6f378311c8d 209 sprintf(string_deadband, "%f", depth_deadband);
tnhnrl 73:f6f378311c8d 210 write_depth_txt.setValue("deadband", string_deadband);
tnhnrl 57:ec69651c8c21 211
tnhnrl 57:ec69651c8c21 212 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 213 sprintf(string_zeroOffset, "%f", depth_zeroOffset);
tnhnrl 57:ec69651c8c21 214 //bce setting was 240 mm during LASR experiments
tnhnrl 57:ec69651c8c21 215 write_depth_txt.setValue("\n#Offset for neutral (default: 240)\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 216
tnhnrl 57:ec69651c8c21 217 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 218 xbee().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 57:ec69651c8c21 219
tnhnrl 57:ec69651c8c21 220 if (!write_depth_txt.write("/local/depth.txt")) {
tnhnrl 74:d281aaef9766 221 xbee().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 57:ec69651c8c21 222 }
tnhnrl 57:ec69651c8c21 223 else {
tnhnrl 74:d281aaef9766 224 xbee().printf("\n\rFile depth.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 225 }
tnhnrl 57:ec69651c8c21 226 }
tnhnrl 57:ec69651c8c21 227
tnhnrl 57:ec69651c8c21 228 //write rudder (servo driver) file rudder.txt
tnhnrl 57:ec69651c8c21 229 void ConfigFileIO::saveRudderData(float setMinDeg, float setMaxDeg, float setCenterPWM, float setMinPWM, float setMaxPWM) {
tnhnrl 57:ec69651c8c21 230 ConfigFile rudder_txt;
tnhnrl 57:ec69651c8c21 231
tnhnrl 57:ec69651c8c21 232 char header[128];
tnhnrl 57:ec69651c8c21 233 sprintf(header,"# rudder (servo) inner loop (heading outer loop uses this)");
tnhnrl 57:ec69651c8c21 234
tnhnrl 57:ec69651c8c21 235 char string_min_deg[128];
tnhnrl 57:ec69651c8c21 236 sprintf(string_min_deg, "%f", setMinDeg);
tnhnrl 57:ec69651c8c21 237 rudder_txt.setValue("setMinDeg", string_min_deg);
tnhnrl 57:ec69651c8c21 238
tnhnrl 57:ec69651c8c21 239 char string_max_deg[128];
tnhnrl 57:ec69651c8c21 240 sprintf(string_max_deg, "%f", setMaxDeg);
tnhnrl 57:ec69651c8c21 241 rudder_txt.setValue("setMaxDeg", string_max_deg);
tnhnrl 57:ec69651c8c21 242
tnhnrl 57:ec69651c8c21 243 char string_ctr_pwm[128];
tnhnrl 57:ec69651c8c21 244 sprintf(string_ctr_pwm, "%f", setCenterPWM);
tnhnrl 57:ec69651c8c21 245 rudder_txt.setValue("setCenterPWM", string_ctr_pwm);
tnhnrl 57:ec69651c8c21 246
tnhnrl 57:ec69651c8c21 247 char string_min_pwm[128];
tnhnrl 57:ec69651c8c21 248 sprintf(string_min_pwm, "%f", setMinPWM);
tnhnrl 57:ec69651c8c21 249 rudder_txt.setValue("setMinPWM", string_min_pwm);
tnhnrl 57:ec69651c8c21 250
tnhnrl 57:ec69651c8c21 251 char string_max_pwm[128];
tnhnrl 57:ec69651c8c21 252 sprintf(string_max_pwm, "%f", setMaxPWM);
tnhnrl 57:ec69651c8c21 253 rudder_txt.setValue("setMaxPWM", string_max_pwm);
tnhnrl 57:ec69651c8c21 254
tnhnrl 57:ec69651c8c21 255 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 256 xbee().printf("Saving RUDDER DATA!");
tnhnrl 57:ec69651c8c21 257
tnhnrl 57:ec69651c8c21 258 if (!rudder_txt.write("/local/rudder.txt")) {
tnhnrl 74:d281aaef9766 259 xbee().printf("\n\rERROR: (SAVE)Failure to write rudder.txt file.");
tnhnrl 57:ec69651c8c21 260 }
tnhnrl 57:ec69651c8c21 261 else {
tnhnrl 74:d281aaef9766 262 xbee().printf("\n\rFile rudder.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 263 }
tnhnrl 57:ec69651c8c21 264 }
tnhnrl 57:ec69651c8c21 265
tnhnrl 57:ec69651c8c21 266 int ConfigFileIO::load_BCE_config() {
tnhnrl 57:ec69651c8c21 267 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 268 int count = 0;
tnhnrl 57:ec69651c8c21 269 if (!cfg.read("/local/bce.txt")) {
tnhnrl 57:ec69651c8c21 270 error("File Read Error");
tnhnrl 57:ec69651c8c21 271 }
tnhnrl 57:ec69651c8c21 272 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 273
tnhnrl 57:ec69651c8c21 274 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 275 bce().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 276 count++;
tnhnrl 57:ec69651c8c21 277 }
tnhnrl 57:ec69651c8c21 278 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 279 bce().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 280 count++;
tnhnrl 57:ec69651c8c21 281 }
tnhnrl 57:ec69651c8c21 282 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 283 bce().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 284 count++;
tnhnrl 57:ec69651c8c21 285 }
tnhnrl 57:ec69651c8c21 286 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 57:ec69651c8c21 287 bce().setZeroCounts(atoi(value));
tnhnrl 57:ec69651c8c21 288 count++;
tnhnrl 57:ec69651c8c21 289 }
tnhnrl 57:ec69651c8c21 290 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 291 bce().setTravelLimit(atof(value));
tnhnrl 57:ec69651c8c21 292 count++;
tnhnrl 57:ec69651c8c21 293 }
tnhnrl 57:ec69651c8c21 294 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 295 bce().setPotSlope(atof(value));
tnhnrl 57:ec69651c8c21 296 count++;
tnhnrl 57:ec69651c8c21 297 }
tnhnrl 57:ec69651c8c21 298 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 299 bce().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 300 count++;
tnhnrl 57:ec69651c8c21 301 }
tnhnrl 57:ec69651c8c21 302 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 303 bce().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 304 count++;
tnhnrl 57:ec69651c8c21 305 }
tnhnrl 57:ec69651c8c21 306
tnhnrl 57:ec69651c8c21 307 return count;
tnhnrl 57:ec69651c8c21 308 }
tnhnrl 57:ec69651c8c21 309
tnhnrl 57:ec69651c8c21 310 //write to heading.txt
tnhnrl 73:f6f378311c8d 311 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 312 ConfigFile heading_txt;
tnhnrl 57:ec69651c8c21 313
tnhnrl 57:ec69651c8c21 314 char PGain_buffer[128];
tnhnrl 57:ec69651c8c21 315 sprintf(PGain_buffer,"# HEADING (rudder outer loop) parameters\n\n#Gains\nPGain");
tnhnrl 57:ec69651c8c21 316
tnhnrl 57:ec69651c8c21 317 //convert input numbers into text and save them to text file
tnhnrl 57:ec69651c8c21 318 char string_pgain[128];
tnhnrl 57:ec69651c8c21 319 sprintf(string_pgain, "%f", heading_p_gain);
tnhnrl 57:ec69651c8c21 320 heading_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 57:ec69651c8c21 321
tnhnrl 57:ec69651c8c21 322 char string_igain[128];
tnhnrl 57:ec69651c8c21 323 sprintf(string_igain, "%f", heading_i_gain);
tnhnrl 57:ec69651c8c21 324 heading_txt.setValue("IGain", string_igain);
tnhnrl 57:ec69651c8c21 325
tnhnrl 57:ec69651c8c21 326 char string_dgain[128];
tnhnrl 57:ec69651c8c21 327 sprintf(string_dgain, "%f", heading_d_gain);
tnhnrl 57:ec69651c8c21 328 heading_txt.setValue("DGain", string_dgain);
tnhnrl 74:d281aaef9766 329
tnhnrl 74:d281aaef9766 330 char string_heading_freq[128];
tnhnrl 74:d281aaef9766 331 sprintf(string_heading_freq, "%f", heading_filter_freq);
tnhnrl 74:d281aaef9766 332 heading_txt.setValue("\n# HEADING sensor filter parameters\nfilterWn", string_heading_freq);
tnhnrl 74:d281aaef9766 333
tnhnrl 74:d281aaef9766 334 char string_heading_db[128];
tnhnrl 74:d281aaef9766 335 sprintf(string_heading_db, "%f", heading_deadband);
tnhnrl 74:d281aaef9766 336 heading_txt.setValue("deadband",string_heading_db);
tnhnrl 57:ec69651c8c21 337
tnhnrl 57:ec69651c8c21 338 char string_zeroOffset[128];
tnhnrl 73:f6f378311c8d 339 sprintf(string_zeroOffset, "%f", heading_zeroOffset);
tnhnrl 74:d281aaef9766 340 heading_txt.setValue("\n#HEADING offset\nzeroOffset", string_zeroOffset);
tnhnrl 57:ec69651c8c21 341
tnhnrl 57:ec69651c8c21 342 //SAVE THE DATA!
tnhnrl 74:d281aaef9766 343 xbee().printf("(ConfigFileIO) Saving HEADING parameters!");
tnhnrl 57:ec69651c8c21 344
tnhnrl 57:ec69651c8c21 345 if (!heading_txt.write("/local/heading.txt")) {
tnhnrl 74:d281aaef9766 346 xbee().printf("\n\rERROR: (SAVE) Failure to write heading.txt file.");
tnhnrl 57:ec69651c8c21 347 }
tnhnrl 57:ec69651c8c21 348 else {
tnhnrl 74:d281aaef9766 349 xbee().printf("\n\rFile heading.txt successful written.\n\r");
tnhnrl 57:ec69651c8c21 350 }
tnhnrl 57:ec69651c8c21 351 }
joel_ssc 82:0981b9ada820 352 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 353 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 354 int count = 0;
joel_ssc 82:0981b9ada820 355 int version = 0;
joel_ssc 82:0981b9ada820 356 if (!cfg.read("/local/logvers.txt")) { // "/local/leg_mission.txt"
joel_ssc 82:0981b9ada820 357 error("Lognames version file logvers.txt File Read Error");
joel_ssc 82:0981b9ada820 358 }
joel_ssc 87:6d95f853dab3 359 char value[BUFSIZ]; // chang
joel_ssc 82:0981b9ada820 360
joel_ssc 82:0981b9ada820 361
joel_ssc 82:0981b9ada820 362 if (cfg.getValue("LogFileVers", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 363 version = atoi(value);
joel_ssc 82:0981b9ada820 364 char buf[256];
joel_ssc 82:0981b9ada820 365 sprintf(buf, "LOG%03d.csv", version);
joel_ssc 82:0981b9ada820 366 logFilesStruct.logFileName = buf;
joel_ssc 82:0981b9ada820 367 logFilesStruct.logversion = version;
joel_ssc 82:0981b9ada820 368 count++;
joel_ssc 82:0981b9ada820 369 }
joel_ssc 82:0981b9ada820 370 if (cfg.getValue("DiagFileVers", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 371 version = atoi(value);
joel_ssc 82:0981b9ada820 372 char buf[256];
joel_ssc 82:0981b9ada820 373
joel_ssc 82:0981b9ada820 374 sprintf(buf, "in configfileIO: diag file version number is %d\n", version);
joel_ssc 82:0981b9ada820 375 if(print_diag == 1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 376 // buf[256]= {0};
joel_ssc 87:6d95f853dab3 377 sprintf(buf, "in ConfigFileIO: diag file string is DIAG%03d.txt\n", version);
joel_ssc 82:0981b9ada820 378 if(print_diag == 1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 379 // buf[256]= {0};
joel_ssc 82:0981b9ada820 380 sprintf(buf, "DIAG%03d.txt", version);
joel_ssc 82:0981b9ada820 381 logFilesStruct.diagFileName = buf;
joel_ssc 82:0981b9ada820 382 logFilesStruct.diagversion = version;
joel_ssc 82:0981b9ada820 383 sprintf(buf, "in ConfigFileIO: diag info pulled from struct: filename = %s diagvernum = %d\n", logFilesStruct.diagFileName,
joel_ssc 82:0981b9ada820 384 logFilesStruct.diagversion);
joel_ssc 82:0981b9ada820 385 if(print_diag==1) {mbedLogger().appendDiagFile(buf,3);}
joel_ssc 82:0981b9ada820 386 count++;
joel_ssc 82:0981b9ada820 387 }
joel_ssc 82:0981b9ada820 388 return count;
joel_ssc 82:0981b9ada820 389 }
joel_ssc 87:6d95f853dab3 390 int ConfigFileIO::load_setneutral_status() {
joel_ssc 87:6d95f853dab3 391 ConfigFile cfg;
joel_ssc 87:6d95f853dab3 392 int count = 0;
joel_ssc 87:6d95f853dab3 393 int setval = 0;
joel_ssc 87:6d95f853dab3 394 int bce_mm = 240;
joel_ssc 87:6d95f853dab3 395 int batt_mm = 40;
joel_ssc 87:6d95f853dab3 396 if (!cfg.read("/local/neutral.txt")) {
joel_ssc 87:6d95f853dab3 397 error("setneutral file neutral.txt File Read Error");
joel_ssc 87:6d95f853dab3 398 // set values in struct to defaults??
joel_ssc 87:6d95f853dab3 399 }
joel_ssc 87:6d95f853dab3 400 char value[BUFSIZ];
joel_ssc 87:6d95f853dab3 401
joel_ssc 87:6d95f853dab3 402
joel_ssc 87:6d95f853dab3 403 if (cfg.getValue("neutral_set", &value[0] , sizeof(value))) {
joel_ssc 87:6d95f853dab3 404 setval = atoi(value);
joel_ssc 87:6d95f853dab3 405 neutralStruct.setval = setval;
joel_ssc 87:6d95f853dab3 406 count++;
joel_ssc 87:6d95f853dab3 407 }
joel_ssc 87:6d95f853dab3 408 if (cfg.getValue("bce_neutral_mm", &value[0] , sizeof(value))) {
joel_ssc 87:6d95f853dab3 409 bce_mm = atoi(value);
joel_ssc 87:6d95f853dab3 410 char buf[256];
joel_ssc 87:6d95f853dab3 411 sprintf(buf, "in configfileIO: bce_neutral_mm is %d\n", bce_mm);
joel_ssc 87:6d95f853dab3 412 mbedLogger().appendDiagFile(buf,3);
joel_ssc 87:6d95f853dab3 413 // buf[256]= {0};
joel_ssc 87:6d95f853dab3 414 neutralStruct.bce_neutral_mm = bce_mm;
joel_ssc 87:6d95f853dab3 415 count++;
joel_ssc 87:6d95f853dab3 416 }
joel_ssc 87:6d95f853dab3 417 if (cfg.getValue("batt_neutral_mm", &value[0] , sizeof(value))) {
joel_ssc 87:6d95f853dab3 418 batt_mm = atoi(value);
joel_ssc 87:6d95f853dab3 419 char buf[256];
joel_ssc 87:6d95f853dab3 420 sprintf(buf, "in configfileIO: batt_neutral_mm is %d\n", batt_mm);
joel_ssc 87:6d95f853dab3 421 mbedLogger().appendDiagFile(buf,3);
joel_ssc 87:6d95f853dab3 422 // buf[256]= {0};
joel_ssc 87:6d95f853dab3 423 neutralStruct.batt_neutral_mm = batt_mm;
joel_ssc 87:6d95f853dab3 424 count++;
joel_ssc 87:6d95f853dab3 425 }
joel_ssc 87:6d95f853dab3 426 return count;
joel_ssc 87:6d95f853dab3 427 }
joel_ssc 87:6d95f853dab3 428 void ConfigFileIO::saveNeutralStatus(int setval, int bce_neutral_mm, int batt_neutral_mm) {
joel_ssc 87:6d95f853dab3 429 ConfigFile neutral_txt;
joel_ssc 87:6d95f853dab3 430
joel_ssc 87:6d95f853dab3 431 //convert input numbers into text and save them to text file
joel_ssc 87:6d95f853dab3 432 char string_setval[128];
joel_ssc 87:6d95f853dab3 433 sprintf(string_setval, "%d", setval);
joel_ssc 87:6d95f853dab3 434 neutral_txt.setValue("# Neutral set status and values\nneutral_set", string_setval);
joel_ssc 87:6d95f853dab3 435
joel_ssc 87:6d95f853dab3 436 char string_bce[128];
joel_ssc 87:6d95f853dab3 437 sprintf(string_bce, "%d", bce_neutral_mm);
joel_ssc 87:6d95f853dab3 438 neutral_txt.setValue("bce_neutral_mm", string_bce);
joel_ssc 87:6d95f853dab3 439
joel_ssc 87:6d95f853dab3 440 char string_batt[128];
joel_ssc 87:6d95f853dab3 441 sprintf(string_batt, "%d", batt_neutral_mm);
joel_ssc 87:6d95f853dab3 442 neutral_txt.setValue("batt_neutral_mm", string_batt);
joel_ssc 87:6d95f853dab3 443
joel_ssc 87:6d95f853dab3 444
joel_ssc 95:1aac4086928a 445 //SAVE THE DATA! also put the data into the neutral struct
joel_ssc 87:6d95f853dab3 446 neutralStruct.batt_neutral_mm = batt_neutral_mm;
joel_ssc 87:6d95f853dab3 447 neutralStruct.bce_neutral_mm = bce_neutral_mm;
joel_ssc 87:6d95f853dab3 448 neutralStruct.setval = setval;
joel_ssc 87:6d95f853dab3 449 xbee().printf("(ConfigFileIO) Saving neutral set status parameters!");
joel_ssc 87:6d95f853dab3 450
joel_ssc 87:6d95f853dab3 451 if (!neutral_txt.write("/local/neutral.txt")) {
joel_ssc 87:6d95f853dab3 452 xbee().printf("\n\rERROR: (SAVE) Failure to write neutral.txt file.");
joel_ssc 87:6d95f853dab3 453 }
joel_ssc 87:6d95f853dab3 454 else {
joel_ssc 87:6d95f853dab3 455 xbee().printf("\n\rFile neutral.txt successful written.\n\r");
joel_ssc 87:6d95f853dab3 456 }
joel_ssc 87:6d95f853dab3 457 }
joel_ssc 82:0981b9ada820 458 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 459 ConfigFile cfg;
joel_ssc 82:0981b9ada820 460 int count = 0;
joel_ssc 82:0981b9ada820 461 if (!cfg.read("/local/batt.txt")) { // "/local/leg_mission.txt"
tnhnrl 57:ec69651c8c21 462 error("BATT File Read Error");
tnhnrl 57:ec69651c8c21 463 }
tnhnrl 57:ec69651c8c21 464 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 465
tnhnrl 57:ec69651c8c21 466
tnhnrl 57:ec69651c8c21 467 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
joel_ssc 82:0981b9ada820 468 batt().setControllerP(atof(value)); // but I want values in a legStructLoaded, not a function
tnhnrl 57:ec69651c8c21 469 count++;
tnhnrl 57:ec69651c8c21 470 }
tnhnrl 57:ec69651c8c21 471 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 472 batt().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 473 count++;
tnhnrl 57:ec69651c8c21 474 }
tnhnrl 57:ec69651c8c21 475 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 476 batt().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 477 count++;
tnhnrl 57:ec69651c8c21 478 }
tnhnrl 57:ec69651c8c21 479 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 57:ec69651c8c21 480 batt().setZeroCounts(atoi(value));
tnhnrl 57:ec69651c8c21 481 count++;
tnhnrl 57:ec69651c8c21 482 }
tnhnrl 57:ec69651c8c21 483 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 484 batt().setTravelLimit(atof(value));
tnhnrl 57:ec69651c8c21 485 count++;
tnhnrl 57:ec69651c8c21 486 }
tnhnrl 57:ec69651c8c21 487 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 488 batt().setPotSlope(atof(value));
tnhnrl 57:ec69651c8c21 489 count++;
tnhnrl 57:ec69651c8c21 490 }
tnhnrl 57:ec69651c8c21 491 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 492 batt().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 493 count++;
tnhnrl 57:ec69651c8c21 494 }
tnhnrl 57:ec69651c8c21 495 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 496 batt().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 497 count++;
tnhnrl 57:ec69651c8c21 498 }
tnhnrl 57:ec69651c8c21 499
tnhnrl 57:ec69651c8c21 500 return count;
tnhnrl 57:ec69651c8c21 501 }
CodyMarquardt 99:9d0849f5fcd7 502
CodyMarquardt 99:9d0849f5fcd7 503 int ConfigFileIO::load_ALT_config() { // I could copy this mode to read one line of a leg_mission file. One line or multiple lines?
CodyMarquardt 99:9d0849f5fcd7 504 ConfigFile cfg;
CodyMarquardt 99:9d0849f5fcd7 505 int count = 0;
CodyMarquardt 99:9d0849f5fcd7 506 if (!cfg.read("/local/alt.txt")) { // "/local/leg_mission.txt"
CodyMarquardt 99:9d0849f5fcd7 507 error("ALT File Read Error");
CodyMarquardt 99:9d0849f5fcd7 508 }
CodyMarquardt 99:9d0849f5fcd7 509 char value[BUFSIZ];
CodyMarquardt 99:9d0849f5fcd7 510
CodyMarquardt 99:9d0849f5fcd7 511
CodyMarquardt 99:9d0849f5fcd7 512 if (cfg.getValue("slope", &value[0] , sizeof(value))) {
CodyMarquardt 99:9d0849f5fcd7 513 sensors().setAltimeterSlope(atof(value)); // but I want values in a legStructLoaded, not a function
CodyMarquardt 99:9d0849f5fcd7 514 count++;
CodyMarquardt 99:9d0849f5fcd7 515 }
CodyMarquardt 99:9d0849f5fcd7 516 if (cfg.getValue("intercept", &value[0] ,sizeof(value))) {
CodyMarquardt 99:9d0849f5fcd7 517 sensors().setAltimeterIntercept(atof(value));
CodyMarquardt 99:9d0849f5fcd7 518 count++;
CodyMarquardt 99:9d0849f5fcd7 519 }
CodyMarquardt 99:9d0849f5fcd7 520
CodyMarquardt 99:9d0849f5fcd7 521 return count;
CodyMarquardt 99:9d0849f5fcd7 522 }
CodyMarquardt 99:9d0849f5fcd7 523
joel_ssc 87:6d95f853dab3 524 void ConfigFileIO::report_still_inverted( float roll_value, int yotime) {
joel_ssc 87:6d95f853dab3 525 ConfigFile still_inverted;
joel_ssc 87:6d95f853dab3 526
joel_ssc 87:6d95f853dab3 527 char string_yotime[128];
joel_ssc 87:6d95f853dab3 528 sprintf(string_yotime, "%d", yotime);
joel_ssc 87:6d95f853dab3 529 still_inverted.setValue("# Still Inverted after START_SWIM yo timeout timeout\n yo_time", string_yotime);
joel_ssc 87:6d95f853dab3 530
joel_ssc 87:6d95f853dab3 531 char string_roll[128];
joel_ssc 87:6d95f853dab3 532 sprintf(string_roll, "%f", roll_value);
joel_ssc 87:6d95f853dab3 533 still_inverted.setValue("inverted_roll_value", string_roll);
joel_ssc 87:6d95f853dab3 534
joel_ssc 87:6d95f853dab3 535
joel_ssc 87:6d95f853dab3 536 //SAVE THE DATA!
joel_ssc 87:6d95f853dab3 537
joel_ssc 87:6d95f853dab3 538 xbee().printf("(ConfigFileIO) Saving still_inverted status after start_swim timeout!");
joel_ssc 87:6d95f853dab3 539
joel_ssc 87:6d95f853dab3 540 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 541 xbee().printf("\n\rERROR: (SAVE) Failure to write inverted.txt file.");
joel_ssc 87:6d95f853dab3 542 }
joel_ssc 87:6d95f853dab3 543 else {
joel_ssc 87:6d95f853dab3 544 xbee().printf("\n\rFile inverted.txt written.\n\r"); // raspberry Pi will need to delete this file on finding it
joel_ssc 87:6d95f853dab3 545 }
joel_ssc 87:6d95f853dab3 546
joel_ssc 87:6d95f853dab3 547 }
joel_ssc 87:6d95f853dab3 548 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 549 ConfigFile no_neutral;
joel_ssc 87:6d95f853dab3 550 int setval = 0;
joel_ssc 87:6d95f853dab3 551 //convert input numbers into text and save them to text file
joel_ssc 87:6d95f853dab3 552 char string_setval[128];
joel_ssc 87:6d95f853dab3 553 sprintf(string_setval, "%d", setval);
joel_ssc 87:6d95f853dab3 554 no_neutral.setValue("# Find_Neutral success or failure\nneutral_found", string_setval);
joel_ssc 87:6d95f853dab3 555
joel_ssc 87:6d95f853dab3 556 char string_batt[128];
joel_ssc 87:6d95f853dab3 557 sprintf(string_batt, "%d", batt_last_pos);
joel_ssc 87:6d95f853dab3 558 no_neutral.setValue("batt_last_position", string_batt);
joel_ssc 87:6d95f853dab3 559
joel_ssc 87:6d95f853dab3 560 sprintf(string_batt, "%d", bce_last_pos);
joel_ssc 87:6d95f853dab3 561 no_neutral.setValue("bce_last_position", string_batt);
joel_ssc 87:6d95f853dab3 562
joel_ssc 87:6d95f853dab3 563
joel_ssc 87:6d95f853dab3 564 //SAVE THE DATA! also put the data insto the neutral struct
joel_ssc 87:6d95f853dab3 565
joel_ssc 87:6d95f853dab3 566 xbee().printf("(ConfigFileIO) Saving find_neutral failure status!");
joel_ssc 87:6d95f853dab3 567
joel_ssc 87:6d95f853dab3 568 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 569 xbee().printf("\n\rERROR: (SAVE) Failure to write no_float.txt file.");
joel_ssc 87:6d95f853dab3 570 }
joel_ssc 87:6d95f853dab3 571 else {
joel_ssc 87:6d95f853dab3 572 xbee().printf("\n\rFile no_float.txt written.\n\r");
joel_ssc 87:6d95f853dab3 573 }
joel_ssc 87:6d95f853dab3 574 }
joel_ssc 88:1813f583cee9 575 void ConfigFileIO::save_FinalTime() {
joel_ssc 88:1813f583cee9 576 ConfigFile timefile_txt;
joel_ssc 88:1813f583cee9 577 int last_time;
joel_ssc 88:1813f583cee9 578 char header[128];
joel_ssc 88:1813f583cee9 579 sprintf(header,"# Timestamp at last moment before closing shop\n");
joel_ssc 88:1813f583cee9 580
joel_ssc 88:1813f583cee9 581 char string_end_time[128];
joel_ssc 88:1813f583cee9 582 last_time = mbedLogger().getSystemTime();
joel_ssc 88:1813f583cee9 583 sprintf(string_end_time, "%d", last_time);
joel_ssc 88:1813f583cee9 584 timefile_txt.setValue("TimeStamp", string_end_time);
joel_ssc 88:1813f583cee9 585
joel_ssc 88:1813f583cee9 586
joel_ssc 88:1813f583cee9 587 //SAVE THE DATA!
joel_ssc 88:1813f583cee9 588 xbee().printf("Saving timestamp value!");
joel_ssc 88:1813f583cee9 589
joel_ssc 88:1813f583cee9 590 if (!timefile_txt.write("/local/newtime.txt")) {
joel_ssc 88:1813f583cee9 591 xbee().printf("\n\rERROR: (SAVE)Failure to write time.txt file.");
joel_ssc 88:1813f583cee9 592 }
joel_ssc 88:1813f583cee9 593 else {
joel_ssc 88:1813f583cee9 594 xbee().printf("\n\rFile newtime.txt successfully written.\n\r");
joel_ssc 88:1813f583cee9 595 }
joel_ssc 88:1813f583cee9 596 }
tnhnrl 57:ec69651c8c21 597 int ConfigFileIO::load_DEPTH_config() {
tnhnrl 57:ec69651c8c21 598 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 599 int count = 0;
tnhnrl 57:ec69651c8c21 600 if (!cfg.read("/local/depth.txt")) {
tnhnrl 57:ec69651c8c21 601 error("DEPTH File Read Error");
tnhnrl 57:ec69651c8c21 602 }
tnhnrl 57:ec69651c8c21 603 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 604
tnhnrl 57:ec69651c8c21 605 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 606 depthLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 607 count++;
tnhnrl 57:ec69651c8c21 608 }
tnhnrl 57:ec69651c8c21 609 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 610 depthLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 611 count++;
tnhnrl 57:ec69651c8c21 612 }
tnhnrl 57:ec69651c8c21 613 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 614 depthLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 615 count++;
tnhnrl 57:ec69651c8c21 616 }
tnhnrl 57:ec69651c8c21 617 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 618 depthLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 619 count++;
tnhnrl 57:ec69651c8c21 620 }
tnhnrl 57:ec69651c8c21 621 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 622 depthLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 623 count++;
tnhnrl 57:ec69651c8c21 624 }
tnhnrl 57:ec69651c8c21 625 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 626 depthLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 627 count++;
tnhnrl 57:ec69651c8c21 628 }
tnhnrl 57:ec69651c8c21 629 return count;
tnhnrl 57:ec69651c8c21 630 }
tnhnrl 57:ec69651c8c21 631
tnhnrl 57:ec69651c8c21 632 int ConfigFileIO::load_PITCH_config() {
tnhnrl 57:ec69651c8c21 633 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 634 int count = 0;
tnhnrl 57:ec69651c8c21 635 if (!cfg.read("/local/pitch.txt")){
tnhnrl 57:ec69651c8c21 636 error("PITCH File Read Error");
tnhnrl 57:ec69651c8c21 637 }
tnhnrl 57:ec69651c8c21 638 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 639
tnhnrl 57:ec69651c8c21 640 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 641 pitchLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 642 count++;
tnhnrl 57:ec69651c8c21 643 }
tnhnrl 57:ec69651c8c21 644 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 645 pitchLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 646 count++;
tnhnrl 57:ec69651c8c21 647 }
tnhnrl 57:ec69651c8c21 648 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 649 pitchLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 650 count++;
tnhnrl 57:ec69651c8c21 651 }
tnhnrl 57:ec69651c8c21 652 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 653 pitchLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 654 count++;
tnhnrl 57:ec69651c8c21 655 }
tnhnrl 57:ec69651c8c21 656 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 657 pitchLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 658 count++;
tnhnrl 57:ec69651c8c21 659 }
tnhnrl 57:ec69651c8c21 660
tnhnrl 57:ec69651c8c21 661 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 662 pitchLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 663 count++;
tnhnrl 57:ec69651c8c21 664 }
tnhnrl 57:ec69651c8c21 665 return count;
tnhnrl 57:ec69651c8c21 666 }
tnhnrl 57:ec69651c8c21 667
tnhnrl 57:ec69651c8c21 668 int ConfigFileIO::load_HEADING_config() {
tnhnrl 57:ec69651c8c21 669 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 670 int count = 0;
tnhnrl 57:ec69651c8c21 671 if (!cfg.read("/local/heading.txt")){
tnhnrl 57:ec69651c8c21 672 error("HEADING File Read Error");
tnhnrl 57:ec69651c8c21 673 }
tnhnrl 57:ec69651c8c21 674 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 675
tnhnrl 57:ec69651c8c21 676 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 677 headingLoop().setControllerP(atof(value));
tnhnrl 57:ec69651c8c21 678 count++;
tnhnrl 57:ec69651c8c21 679 }
tnhnrl 57:ec69651c8c21 680 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 681 headingLoop().setControllerI(atof(value));
tnhnrl 57:ec69651c8c21 682 count++;
tnhnrl 57:ec69651c8c21 683 }
tnhnrl 57:ec69651c8c21 684 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 685 headingLoop().setControllerD(atof(value));
tnhnrl 57:ec69651c8c21 686 count++;
tnhnrl 57:ec69651c8c21 687 }
tnhnrl 57:ec69651c8c21 688 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 689 headingLoop().setFilterFrequency(atof(value));
tnhnrl 57:ec69651c8c21 690 count++;
tnhnrl 57:ec69651c8c21 691 }
tnhnrl 57:ec69651c8c21 692 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 693 headingLoop().setDeadband(atof(value));
tnhnrl 57:ec69651c8c21 694 count++;
tnhnrl 57:ec69651c8c21 695 }
tnhnrl 57:ec69651c8c21 696
tnhnrl 57:ec69651c8c21 697 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 698 headingLoop().setOutputOffset(atof(value));
tnhnrl 57:ec69651c8c21 699 count++;
tnhnrl 57:ec69651c8c21 700 }
tnhnrl 57:ec69651c8c21 701 return count;
tnhnrl 57:ec69651c8c21 702 }
tnhnrl 57:ec69651c8c21 703
tnhnrl 57:ec69651c8c21 704 int ConfigFileIO::load_RUDDER_config() {
tnhnrl 57:ec69651c8c21 705 ConfigFile cfg;
tnhnrl 57:ec69651c8c21 706 int count = 0;
tnhnrl 57:ec69651c8c21 707 if (!cfg.read("/local/rudder.txt")){
tnhnrl 57:ec69651c8c21 708 error("RUDDER File Read Error");
tnhnrl 57:ec69651c8c21 709 }
tnhnrl 57:ec69651c8c21 710 char value[BUFSIZ];
tnhnrl 57:ec69651c8c21 711
tnhnrl 57:ec69651c8c21 712 //float values below
tnhnrl 57:ec69651c8c21 713 if (cfg.getValue("setMinDeg", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 714 rudder().setMinDeg(atof(value));
tnhnrl 57:ec69651c8c21 715 count++;
tnhnrl 57:ec69651c8c21 716 }
tnhnrl 57:ec69651c8c21 717 if (cfg.getValue("setMaxDeg", &value[0] ,sizeof(value))) {
tnhnrl 57:ec69651c8c21 718 rudder().setMaxDeg(atof(value));
tnhnrl 57:ec69651c8c21 719 count++;
tnhnrl 57:ec69651c8c21 720 }
tnhnrl 57:ec69651c8c21 721
tnhnrl 57:ec69651c8c21 722 //integer values below
tnhnrl 57:ec69651c8c21 723 if (cfg.getValue("setCenterPWM", &value[0] , sizeof(value))) {
tnhnrl 57:ec69651c8c21 724 rudder().setCenterPWM(atof(value));
tnhnrl 57:ec69651c8c21 725 count++;
tnhnrl 57:ec69651c8c21 726 }
tnhnrl 57:ec69651c8c21 727 if (cfg.getValue("setMinPWM", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 728 rudder().setMinPWM(atof(value));
tnhnrl 57:ec69651c8c21 729 count++;
tnhnrl 57:ec69651c8c21 730 }
tnhnrl 57:ec69651c8c21 731 if (cfg.getValue("setMaxPWM", &value[0], sizeof(value))) {
tnhnrl 57:ec69651c8c21 732 rudder().setMaxPWM(atof(value));
tnhnrl 57:ec69651c8c21 733 count++;
tnhnrl 57:ec69651c8c21 734 }
tnhnrl 57:ec69651c8c21 735 return count;
tnhnrl 57:ec69651c8c21 736 }