Diff: SequenceController/SequenceController.cpp

Revision:

87:6d95f853dab3

Parent:

86:ba3a118b0080

Child:

99:9d0849f5fcd7

--- a/SequenceController/SequenceController.cpp	Thu May 02 20:34:16 2019 +0000
+++ b/SequenceController/SequenceController.cpp	Wed May 08 13:24:04 2019 +0000
@@ -228,7 +228,7 @@
         
             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);
+                sprintf(bux2, "\n\r leg values sequence %d = %s\n",i,value);
                 mbedLogger().appendDiagFile(bux2,0);
                 
                 legStructLoaded[i] = process(value); //create the structs using process(string randomstring)
@@ -279,20 +279,30 @@
     }
     /* LPD */
     
-    /* neutral */
-    if ((signed int) randomstring.find("neutral") != -1) {
-        loadStruct.title = "neutral";
-        xbee().printf("\n\rLOAD neutral. %d", randomstring.find("neutral"));
-        loadStruct.state = FIND_NEUTRAL;
+    /* start-swim */
+    if ((signed int) randomstring.find("start_swim") != -1) {
+        loadStruct.title = "start_swim";
+        xbee().printf("\n\rLOAD start-swim %d", randomstring.find("start_swim"));
+        loadStruct.state = START_SWIM;
+        sprintf(bux2, "\n\r process leg file: found START-SWIM  label, setting state to same\n");
+                mbedLogger().appendDiagFile(bux2,3);
     }
-    /* neutral */
-    
+    /* start-swim */
+    /* flying_idle */
+    if ((signed int) randomstring.find("flying_idle") != -1) {
+        loadStruct.title = "flying_idle";
+        xbee().printf("\n\rLOAD flying-idle found at %d", randomstring.find("flying_idle"));
+        loadStruct.state = FLYING_IDLE;
+        sprintf(bux2, "\n\r process leg file: found FLYING_IDLE  label, setting state to FLYING_IDLE \n");
+                mbedLogger().appendDiagFile(bux2,3);
+    }
+    /* flying_idle */
     /* 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 callcount=%d\n", callcount);
+                sprintf(bux2, "\n\r process(valuestring) legfile: found exit key.  Callcount=%d\n", callcount);
                 mbedLogger().appendDiagFile(bux2,3);
     }
     /* EXIT */
@@ -300,67 +310,67 @@
     /*  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++;
-                }
+
+        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  process(legstring)count=%d \n", atof(depth_array), callcount);
-                mbedLogger().appendDiagFile(bux2,3);
         }
-    }    
+        loadStruct.max_depth = atof(depth_array);
+        sprintf(bux2, "\n\r process legfile: key=max_depth val=%g  process(legstring)count=%d \n", atof(depth_array), callcount);
+        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++;
-                }
+    if ((signed int) randomstring.find("min_depth") != -1) {
+
+        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")) {
+        }
+        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) {
+        
             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] == ',') 
+                if (cstr[i] == ',')
                     break;
-                else if (cstr[i] == ';') 
+                else if (cstr[i] == ';')
                     break;
                 else {
-                    depth_array[depth_counter] = cstr[i]; 
+                    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);
-        }
-    }    
+            mbedLogger().appendDiagFile(bux2,3);
+        
+    }
     /* DEPTH TO FLOAT */