Diff: MbedLogger/MbedLogger.cpp

Revision:

99:9d0849f5fcd7

Parent:

87:6d95f853dab3

--- a/MbedLogger/MbedLogger.cpp	Mon May 20 18:57:23 2019 +0000
+++ b/MbedLogger/MbedLogger.cpp	Fri Jun 28 13:59:11 2019 +0000
@@ -20,7 +20,7 @@
     _log_file_line_counter = 0;     //used to set timer in finite state machine based on size of log
     
     //heading string is 254 bytes long, FIXED LENGTH
-    _heading_string = "StateStr,St#,TimeSec,DepthCmd,DepthFt,PitchCmd,PitchDeg,RudderPWM,RudderCmdDeg,HeadDeg,bceCmd,bce_mm,battCmd,batt_mm,PitchRateDegSec,depth_rate_fps,SystemAmps,SystemVolts,AltChRd,Int_PSI,BCE_p,i,d,BATT_p,i,d,DEPTH_p,i,d,fq,db,PITCH_p,i,d,HEAD_p,i,d,fq,db\n";
+    _heading_string = "StateStr,St#,TimeSec,DepthCmd,DepthFt,PitchCmd,PitchDeg,RudderPWM,RudderCmdDeg,HeadDeg,bceCmd,bce_mm,battCmd,batt_mm,PitchRateDegSec,depth_rate_fps,SystemAmps,SystemVolts,AltChRd,Alt_m,Int_PSI,BCE_p,i,d,BATT_p,i,d,DEPTH_p,i,d,fq,db,PITCH_p,i,d,HEAD_p,i,d,fq,db\n"; //edit by CAM
     _diag_heading_string =  "Diagnostics file header \n";
     
     _fsm_transmit_complete = false;
@@ -71,32 +71,34 @@
     _data_log[13] = sensors().getCurrentInput();      // i_in
     _data_log[14] = sensors().getVoltageInput();      // v_in
     _data_log[15] = sensors().getAltimeterChannelReadings();   // Altimeter Channel Readings
-    _data_log[16] = sensors().getInternalPressurePSI();   // int_press_PSI
+    _data_log[16] = sensors().getAltimeterReading_m();    // Altimeter Distance Reading (m)
+    _data_log[17] = sensors().getInternalPressurePSI();   // int_press_PSI
     
     //BCE_p,i,d,freq,deadband
-    _data_log[17] = bce().getControllerP();
-    _data_log[18] = bce().getControllerI();
-    _data_log[19] = bce().getControllerD();
+    _data_log[18] = bce().getControllerP();
+    _data_log[19] = bce().getControllerI();
+    _data_log[20] = bce().getControllerD();
     
-    _data_log[20] = batt().getControllerP();
-    _data_log[21] = batt().getControllerI();
-    _data_log[22] = batt().getControllerD();
+    _data_log[21] = batt().getControllerP();
+    _data_log[22] = batt().getControllerI();
+    _data_log[23] = batt().getControllerD();
     
-    _data_log[23] = depthLoop().getControllerP();
-    _data_log[24] = depthLoop().getControllerI();
-    _data_log[25] = depthLoop().getControllerD();
-    _data_log[26] = depthLoop().getFilterFrequency();
-    _data_log[27] = depthLoop().getDeadband();
+    _data_log[24] = depthLoop().getControllerP();
+    _data_log[25] = depthLoop().getControllerI();
+    _data_log[26] = depthLoop().getControllerD();
+    _data_log[27] = depthLoop().getFilterFrequency();
+    _data_log[28] = depthLoop().getDeadband();
     
-    _data_log[28] = pitchLoop().getControllerP();
-    _data_log[29] = pitchLoop().getControllerI();
-    _data_log[30] = pitchLoop().getControllerD();
+    _data_log[29] = pitchLoop().getControllerP();
+    _data_log[30] = pitchLoop().getControllerI();
+    _data_log[31] = pitchLoop().getControllerD();
     
-    _data_log[31] = headingLoop().getControllerP();
-    _data_log[32] = headingLoop().getControllerI();
-    _data_log[33] = headingLoop().getControllerD();
-    _data_log[34] = headingLoop().getFilterFrequency();
-    _data_log[35] = headingLoop().getDeadband();
+    _data_log[32] = headingLoop().getControllerP();
+    _data_log[33] = headingLoop().getControllerI();
+    _data_log[34] = headingLoop().getControllerD();
+    _data_log[35] = headingLoop().getFilterFrequency();
+    _data_log[36] = headingLoop().getDeadband();
+    
     
     string string_state;           string_state= "UNKNOWN";  //default just in case.
     
@@ -148,12 +150,12 @@
     //below this format is used for data transmission, each packet needs to be 254 characters long (not counting newline char)
     
     //verified that this generates the correct line length of 254 using SOLELY an mbed 08/16/2018
-    fprintf(_fp, "%17s,%.2d,%10d,%5.1f,%5.1f,%6.1f,%6.1f,%4.0f,%4.0f,%6.1f,%5.1f,%6.1f,%5.1f,%6.1f,%6.1f,%6.1f,%6.3f,%6.2f,%5.0f,%6.2f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%6.2f,%5.3f,%5.3f,%4.1f,%4.1f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%4.1f,%4.1f\n",
+    fprintf(_fp, "%17s,%.2d,%10d,%5.1f,%5.1f,%6.1f,%6.1f,%4.0f,%4.0f,%6.1f,%5.1f,%6.1f,%5.1f,%6.1f,%6.1f,%6.1f,%6.3f,%6.2f,%5.0f,%4.1f,%6.2f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%6.2f,%5.3f,%5.3f,%4.1f,%4.1f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%5.3f,%4.1f,%4.1f\n", // edit by CAM
     string_state.c_str(),current_state,
     data_log_time-start_time,   //note offset relative to start 
     _data_log[0],_data_log[1],_data_log[2],_data_log[3],_data_log[4],_data_log[5],_data_log[6],_data_log[7],_data_log[8],_data_log[9],_data_log[10],_data_log[11],_data_log[12],_data_log[13],_data_log[14],_data_log[15],
     _data_log[16],_data_log[17],_data_log[18],_data_log[19],_data_log[20],_data_log[21],_data_log[22],_data_log[23],_data_log[24],_data_log[25],_data_log[26],_data_log[27],_data_log[28],_data_log[29],_data_log[30],
-    _data_log[31],_data_log[32],_data_log[33],_data_log[34],_data_log[35]);
+    _data_log[31],_data_log[32],_data_log[33],_data_log[34],_data_log[35],_data_log[36]);
 
     //each line in the file is 160 characters long text-wise, check this with a file read
 }
@@ -960,48 +962,48 @@
     
     while (xbee().readable() && !data_transmission_complete) {                
         incoming_byte = xbee().getc();    //getc returns an unsigned char cast to an int
-        //xbee().printf("DEBUG: State 0\n\r");
+        xbee().printf("DEBUG: State 0 || byte: %d\n\r",incoming_byte);
         
         switch(process_state) {
             case HEADER_117:
                 //continue processing
                 if (incoming_byte == 117){
                     process_state = HEADER_101;
-                    //xbee().printf("DEBUG: Case 117\n\r");
+                    xbee().printf("DEBUG: Case 117\n\r");
                 }
                 //end transmission
                 else if (incoming_byte == 16) {
                     process_state = END_TRANSMISSION;
-                    //xbee().printf("DEBUG: State 16 (END_TRANSMISSION)\n\r");
+                    xbee().printf("DEBUG: State 16 (END_TRANSMISSION)\n\r");
                 }
                 else {
                     process_state = HEADER_117; // ???
-                    //xbee().printf("DEBUG: State Header 117\n\r");
+                    xbee().printf("DEBUG: State Header 117\n\r");
                 }
                 break;
             
             case HEADER_101:
                 if(incoming_byte == 101) {
                     process_state = PACKET_NUM;
-                    //xbee().printf("DEBUG: Case 101\n\r");
+                    xbee().printf("DEBUG: Case 101\n\r");
                 }
                 break;
                 
             case PACKET_NUM:
                 receive_packet_number = incoming_byte;
                 process_state = TOTAL_NUM_PACKETS;
-                //xbee().printf("DEBUG: Case PACKET_NUM\n\r");
+                xbee().printf("DEBUG: Case PACKET_NUM\n\r");
                 break;
             
             case TOTAL_NUM_PACKETS:
                 receive_total_number_packets = incoming_byte;
                 process_state = PACKET_SIZE;
-                //xbee().printf("DEBUG: Case TOTAL_NUM_PACKETS\n\r");
+                xbee().printf("DEBUG: Case TOTAL_NUM_PACKETS\n\r");
                 break;
                 
             case PACKET_SIZE:      
                 receive_packet_size = incoming_byte;
-                //xbee().printf("DEBUG: Case PACKET_SIZE\n\r");
+                xbee().printf("DEBUG: Case PACKET_SIZE\n\r");
                 
                 //write the header stuff to it
                 char_buffer[0] = 117;
@@ -1011,7 +1013,7 @@
                 char_buffer[4] = receive_packet_size;    
                 
                 // tests confirmed that packet number is zero, number of packets is 12, packet size is 12
-                //xbee().printf("char_buffer 2/3/4: %d %d %d\n\r", receive_packet_number,receive_total_number_packets,receive_packet_size);
+                xbee().printf("char_buffer 2/3/4: %d %d %d\n\r", receive_packet_number,receive_total_number_packets,receive_packet_size);
                        
                 //process packet data, future version will append for larger data sizes, 0xFFFF
                 
@@ -1027,7 +1029,8 @@
                         serial_timeout = 0; //reset the timeout
                     }
                     else {
-                        serial_timeout++;        
+                        serial_timeout++;      
+                        //xbee().printf("DEBUG: timeout = %d\n\r",serial_timeout);  
                     }
                     
                     // When full data packet is received...
@@ -1048,14 +1051,14 @@
                         int calc_crc_one = calcCrcOne();
                         int calc_crc_two = calcCrcTwo();
 
-                        //xbee().printf("DEBUG: calc crc 1: %d, crc 2: %d\n\r", calc_crc_one, calc_crc_two);
+                        xbee().printf("DEBUG: calc crc 1: %d, crc 2: %d\n\r", calc_crc_one, calc_crc_two);
                         
                         // first confirm that the checksum is correct
                         if ((calc_crc_one == checksum_one) and (calc_crc_two == checksum_two)) {    
                         
-                            //xbee().printf("DEBUG: checksums are good!\n\r");
+                            xbee().printf("DEBUG: checksums are good!\n\r");
                             
-                            //xbee().printf("receive_packet_number %d and _confirmed_packet_number %d\n\r", receive_packet_number, _confirmed_packet_number); //debug
+                            xbee().printf("receive_packet_number %d and _confirmed_packet_number %d\n\r", receive_packet_number, _confirmed_packet_number); //debug
                                                 
 //                            // CHECKSUM CORRECT & get the filename from the first packet (check that you receive first packet)                                
 //                            if (receive_packet_number == 0) {
@@ -1111,36 +1114,36 @@
                         break;
                     }
                     
-//                    //counter breaks out of the loop if no data received
-//                    if (serial_timeout >= 10000) {
-//                        //xbee().printf("break serial_timeout %d\n\r", serial_timeout);
-//                        break;      
-//                    }
+                    //counter breaks out of the loop if no data received
+                    if (serial_timeout >= 1000) {
+                        xbee().printf("break serial_timeout %d\n\r", serial_timeout);
+                        break;      
+                    }
                 }
                 break;   
                 
             case END_TRANSMISSION:
                 if (xbee().getc() == 16) {
-                    //xbee().printf("DEBUG: END_TRANSMISSION REACHED: 1. \n\r");
+                    xbee().printf("DEBUG: END_TRANSMISSION REACHED: 1. \n\r");
                     
                     if (xbee().getc() == 16) {
-                        //xbee().printf("DEBUG: END_TRANSMISSION REACHED: 2. \n\r");
+                        xbee().printf("DEBUG: END_TRANSMISSION REACHED: 2. \n\r");
                         
                         _end_sequence_transmission = true;
                         //endReceiveData();
                     }
                 }
                 
-                //xbee().printf("DEBUG: END_TRANSMISSION REACHED: 5. \n\r");
+                xbee().printf("DEBUG: END_TRANSMISSION REACHED: 5. \n\r");
                 
                 //process_state = HEADER_117; //don't do this unless the check is wrong
-                //xbee().printf("END_TRANSMISSION process_state is %d\n\r", process_state);        //should be 5 (debug) 02/06/2018
+                xbee().printf("END_TRANSMISSION process_state is %d\n\r", process_state);        //should be 5 (debug) 02/06/2018
                 data_transmission_complete = true;
                 break;            
         }//END OF SWITCH
         
         if (data_transmission_complete) {
-            //xbee().printf("DEBUG: checkForIncomingData data_transmission_complete \n\r");
+            xbee().printf("DEBUG: checkForIncomingData data_transmission_complete \n\r");
             break;  //out of while loop
         }   
     } // while loop
@@ -1302,13 +1305,14 @@
 // initialize and close the file
 // log file freezes at 0x0000006c
 void MbedLogger::initializeLogFile() {
+    char buf[256];
     string file_name_string = _file_system_string + configFileIO().logFilesStruct.logFileName;   //  "DIAG000.txt";
     //string file_name_string = _file_system_string + "LOG000.csv";  // how to pass in log file name as a string?
+    
     _full_file_path_string = file_name_string;
-    char buf[256];
     xbee().printf("%s file system init\n\r", _file_system_string.c_str());
     sprintf(buf, "%s mbedlogger():initializelogfile:  file system init\n\r", _file_system_string.c_str());
-          appendDiagFile(buf,1);
+    appendDiagFile(buf,1);
     //try to open this file...
     _fp = fopen(file_name_string.c_str(), "r");
     
@@ -1538,9 +1542,7 @@
 void MbedLogger::receiveSequenceFile() {
     //restart each time
     _end_sequence_transmission = false;
-    
     openNewMissionFile();
-
     //zero will be reserved for the file name, future 
     _confirmed_packet_number = 1;           //in sendReply() function that transmits a reply for incoming data
     
@@ -1559,7 +1561,7 @@
         
         counter++;
         
-        sendReply();    //bad name, should call it send request or something
+        sendReply();    //bad name, should call it send request or something    CAM
         
         if (_end_sequence_transmission)
             break;