Diff: SequenceController/SequenceController.cpp

Revision:

82:0981b9ada820

Parent:

74:d281aaef9766

Child:

85:dd8176285b6e

--- a/SequenceController/SequenceController.cpp	Thu Nov 08 22:30:32 2018 +0000
+++ b/SequenceController/SequenceController.cpp	Fri Feb 15 16:00:17 2019 +0000
@@ -149,7 +149,7 @@
 //    }
 //    /* EXIT */
     
-    return loadStruct;  //each iteration this returns a completed struct
+    return loadStruct;  //each iteration of this returns a completed struct
 }
 
 void SequenceController::sequenceFunction() {
@@ -180,6 +180,242 @@
     }   
 }
 
-int SequenceController::getSequenceState() {
+int LegController::getLegState() {
     return _current_state;
-}
\ No newline at end of file
+}
+LegController::LegController() {
+    _leg_counter = 0;
+}
+
+int LegController::loadLeg() {
+    xbee().printf("\n\rLoading Leg commands Dive File:");
+    
+    ConfigFile read_leg_cfg;
+    char value[256];   
+    //   char buf[256];
+    char bux2[256];
+    static int default_legstruct_loaded = 0;
+    sprintf(bux2,"\n\rin loadleg(): Loading Leg commands Dive File:");
+    mbedLogger().appendDiagFile(bux2,0);
+    
+    if(default_legstruct_loaded == 0 ) {
+        legStructLoaded[0] = load_def_leg();  // is this right call pointer vs item?
+        legStructLoaded[1].title = "exit";
+        default_legstruct_loaded = 1;
+      }
+    //read configuration file stored on MBED
+    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
+        xbee().printf("\n\rERROR:Failure to read legfile.txt file.");
+        sprintf(bux2,"\n\rERROR:Failure to read legfile.txt file.");
+        //mbedLogger().appendDiagFile(bux2,0);
+        
+    }
+    else {        
+        /* Read values from the file until you reach an "exit" character" */
+        //up to 256 items in the sequence
+        for (int i = 0; i < 256; i++) {                  //works
+            /* convert INT to string */
+            char buf[256];
+            sprintf(buf, "%d", i);                  //searching for 0,1,2,3...
+            /* convert INT to string */
+        
+            if (read_leg_cfg.getValue(buf, &value[0], sizeof(value))) {
+                xbee().printf("\n\rsequence %d = %s",i,value);
+                sprintf(bux2, "\n\r leg values sequence %d = %s",i,value);
+                mbedLogger().appendDiagFile(bux2,0);
+                
+                legStructLoaded[i] = process(value); //create the structs using process(string randomstring)
+            }
+            
+            if (legStructLoaded[i].title == "exit") {
+                _number_of_legs = i;   //before the exit
+                break;
+            }
+        }
+    }   //end of successful read
+    if (_number_of_legs  > 0 )  {return 1; }
+    else {return 0; }
+}
+
+legStruct LegController::load_def_leg() {
+    legStruct loadStruct;
+    
+    loadStruct.title = "leg";
+    loadStruct.state = LEG_POSITION_DIVE;
+    loadStruct.max_depth = 15;
+    loadStruct.min_depth =  5;
+    loadStruct.yo_time =  200;
+    loadStruct.timeout =  1800;
+    loadStruct.heading =  90; 
+    return loadStruct;
+}    
+    
+legStruct LegController::process(string randomstring) {
+    //this is the struct that is loaded from the config variables
+    
+    legStruct loadStruct; //local struct
+    
+    /* CONVERT STRING TO CHAR ARRAY */
+    const char *cstr = randomstring.c_str();
+    char bux2[256];
+    /* CONVERT STRING TO CHAR ARRAY */
+    
+    /* DIVE */
+    //this can only be in the first position
+    if ((signed int) randomstring.find("leg") != -1) {
+        loadStruct.title = "leg";
+        loadStruct.state = LEG_POSITION_DIVE;      //NEW: separate state handles multiple dives
+        sprintf(bux2, "\n\r process leg file: found leg label, setting state to LEG_POSITION_DIVE");
+                mbedLogger().appendDiagFile(bux2,3);
+    }
+    /* DIVE */
+    
+    /* PITCH */
+    if ((signed int) randomstring.find("neutral") != -1) {
+        loadStruct.title = "neutral";
+        xbee().printf("\n\rLOAD neutral. %d", randomstring.find("neutral"));
+        loadStruct.state = FIND_NEUTRAL;
+    }
+    /* PITCH */
+    
+    /* EXIT */
+    if ((signed int) randomstring.find("exit") != -1) {
+        loadStruct.title = "exit";
+        xbee().printf("\n\rReminder. Exit command is state FLOAT_BROADCAST\n\r");
+        loadStruct.state = FLOAT_BROADCAST; //this is the new exit condition of the dive-rise sequence (11/4/17)
+                sprintf(bux2, "\n\r process legfile: found exit key \n");
+                mbedLogger().appendDiagFile(bux2,3);
+    }
+    /* EXIT */
+    
+    /*  max DEPTH TO  cycle to */
+ 
+    if ((signed int) randomstring.find("max_depth") != -1) {
+        if (randomstring.find("neutral") || randomstring.find("leg")) {
+            int depth_pos = randomstring.find("max_depth") + 10;     //11 in example literally "depth="
+            char depth_array[256] = {0};    //clear memory
+            int depth_counter = 0;
+            for (int i = depth_pos; i < randomstring.length(); i++) {
+                if (cstr[i] == ',') 
+                    break;
+                else if (cstr[i] == ';') 
+                    break;
+                else {
+                    depth_array[depth_counter] = cstr[i]; 
+                    depth_counter++;
+                }
+            }
+            loadStruct.max_depth = atof(depth_array);
+                sprintf(bux2, "\n\r process legfile: key=max_depth val=%g \n", atof(depth_array));
+                mbedLogger().appendDiagFile(bux2,3);
+        }
+    }    
+    
+ 
+       if ((signed int) randomstring.find("min_depth") != -1) {
+        if (randomstring.find("neutral") || randomstring.find("leg")) {
+            int depth_pos = randomstring.find("min_depth") + 10;     //11 in example literally "depth="
+            char depth_array[256] = {0};    //clear memory
+            int depth_counter = 0;
+            for (int i = depth_pos; i < randomstring.length(); i++) {
+                if (cstr[i] == ',') 
+                    break;
+                else if (cstr[i] == ';') 
+                    break;
+                else {
+                    depth_array[depth_counter] = cstr[i]; 
+                    depth_counter++;
+                }
+            }
+            loadStruct.min_depth = atof(depth_array);
+            sprintf(bux2, "\n\r process legfile: key=min_depth val=%g \n", atof(depth_array));
+                mbedLogger().appendDiagFile(bux2,3);
+            }
+    }    
+          if ((signed int) randomstring.find("heading") != -1) {
+        if (randomstring.find("neutral") || randomstring.find("leg")) {
+            int depth_pos = randomstring.find("heading") + 8;     //11 in example literally "depth="
+            char depth_array[256] = {0};    //clear memory
+            int depth_counter = 0;
+            for (int i = depth_pos; i < randomstring.length(); i++) {
+                if (cstr[i] == ',') 
+                    break;
+                else if (cstr[i] == ';') 
+                    break;
+                else {
+                    depth_array[depth_counter] = cstr[i]; 
+                    depth_counter++;
+                    }
+            }
+            loadStruct.heading = atof(depth_array);
+            sprintf(bux2, "\n\r process legfile: key=heading val=%g \n", atof(depth_array));
+                mbedLogger().appendDiagFile(bux2,3);
+        }
+    }    
+    /* DEPTH TO FLOAT */
+    
+    
+    
+    /* PAUSE */
+    if ((signed int) randomstring.find("pause") != -1) {
+        loadStruct.title = "pause";
+    }
+    /* PAUSE */
+    
+    /* TIME TO FLOAT */
+    if ((signed int) randomstring.find("timeout") != -1) { 
+           
+        int time_pos = randomstring.find("timeout") + 8;    //position of timeout + "timeout=" so 8
+        char time_array[256] = {0};
+        int time_counter = 0;
+        for (int i = time_pos; i < randomstring.length(); i++) {
+            //xbee().printf("time string cstr[i] = %c\n\r", cstr[i]); //debug
+            
+            if (cstr[i] == ',') 
+                break;
+            else if (cstr[i] == ';') 
+                break;
+            else {
+                //xbee().printf("time string cstr[i] = %c\n\r", cstr[i]); //debug
+                time_array[time_counter] = cstr[i]; 
+                time_counter++;
+            }
+        }
+        loadStruct.timeout = atof(time_array);
+        sprintf(bux2, "\n\r process legfile: key=timeout val=%g \n", atof(time_array));
+                mbedLogger().appendDiagFile(bux2,3);
+    }
+    // yo_time is to avoid a single down/or up segment going on too long - maybe 10 minutes?
+    if ((signed int) randomstring.find("yo_time") != -1) { 
+           
+        int time_pos = randomstring.find("yo_time") + 8;    //position of timeout + "timeout=" so 8
+        char time_array[256] = {0};
+        int time_counter = 0;
+        for (int i = time_pos; i < randomstring.length(); i++) {
+            //xbee().printf("time string cstr[i] = %c\n\r", cstr[i]); //debug
+            
+            if (cstr[i] == ',') 
+                break;
+            else if (cstr[i] == ';') 
+                break;
+            else {
+                //xbee().printf("time string cstr[i] = %c\n\r", cstr[i]); //debug
+                time_array[time_counter] = cstr[i]; 
+                time_counter++;
+            }
+        }
+        loadStruct.yo_time = atof(time_array);
+        sprintf(bux2, "\n\r process legfile: key=yo_time val=%g \n", atof(time_array));
+                mbedLogger().appendDiagFile(bux2,3);
+    }
+    /* TIME TO FLOAT */  
+    
+//    /* EXIT */
+//    if (randomstring.find("exit") != 0) {
+//        loadStruct.title = "exit";
+//        xbee().printf("\n\rEXIT.");
+//    }
+//    /* EXIT */
+    
+    return loadStruct;  //each iteration this returns a completed struct
+}