File content as of revision 38:83d06c294807:

#include "ConfigFileIO.hpp"
#include "StaticDefs.hpp"

//configuration file io, both to read, set, and save

ConfigFileIO::ConfigFileIO() {
}

void ConfigFileIO::saveBattData(float p_gain, float i_gain, float d_gain) {       
    ConfigFile write_Batt_txt;   //write to the config file
    
    char PGain_buffer[128];
    sprintf(PGain_buffer,"# configuration file for battery mover parameters\n\n#Gains\nPGain");
    
    char string_pgain[128];  
    sprintf(string_pgain, "%f", p_gain);
    write_Batt_txt.setValue(PGain_buffer, string_pgain);
    
    char string_igain[128];  
    sprintf(string_igain, "%f", i_gain);
    write_Batt_txt.setValue("IGain", string_igain);
    
    char string_dgain[128];  
    sprintf(string_dgain, "%f", d_gain);
    write_Batt_txt.setValue("DGain", string_dgain);
            
    write_Batt_txt.setValue("\n#string pot parameters\nzeroCounts", "610");
    write_Batt_txt.setValue("PistonTravelLimit", "73.0");
    write_Batt_txt.setValue("slope", "0.12176");
    write_Batt_txt.setValue("filterWn", "6.0");
    write_Batt_txt.setValue("deadband", "0.5");

    //SAVE THE DATA!
    pc().printf("Saving BATTERY MOVER PID data!");
    
    if (!write_Batt_txt.write("/local/batt.txt")) {
        pc().printf("\n\rERROR: (SAVE)Failure to write batt.txt file.");
    }
    else {
        pc().printf("\n\rFile batt.txt successful written.\n\r");
    }  
}

void ConfigFileIO::savePitchData(float p_gain, float i_gain, float d_gain, int batt_zeroOffset) {   
    ConfigFile write_pitch_txt;   //write to the config file
    
    char PGain_buffer[128];
    sprintf(PGain_buffer,"# pitch outer loop parameters\n\n#Gains\nPGain");
    
    char string_pgain[128];  
    sprintf(string_pgain, "%f", p_gain);
    write_pitch_txt.setValue(PGain_buffer, string_pgain);
    
    char string_igain[128];  
    sprintf(string_igain, "%f", i_gain);
    write_pitch_txt.setValue("IGain", string_igain);
    
    char string_dgain[128];  
    sprintf(string_dgain, "%f", d_gain);
    write_pitch_txt.setValue("DGain", string_dgain);
            
    write_pitch_txt.setValue("\n#Pitch sensor filter parameters\nfilterWn", "6.0");
    write_pitch_txt.setValue("deadband", "0.5");
    
    char string_zeroOffset[128];
    sprintf(string_zeroOffset, "%d", batt_zeroOffset);
    //bce setting was 41 mm during LASR experiments
    write_pitch_txt.setValue("\n#Offset for neutral (default: 41)\nzeroOffset", string_zeroOffset);
    
    //SAVE THE DATA!
    pc().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
    
    if (!write_pitch_txt.write("/local/pitch.txt")) {
        pc().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
    }
    else {
        pc().printf("\n\rFile pitch.txt successful written.\n\r");
    } 
}

void ConfigFileIO::saveBCEData(float p_gain, float i_gain, float d_gain) {       
    ConfigFile write_BCE_txt;   //write to the config file
    
    char PGain_buffer[128];
    sprintf(PGain_buffer,"# configuration file for BCE parameters\n\n#Gains\nPGain");
    
    char string_pgain[128];  
    sprintf(string_pgain, "%f", p_gain);
    write_BCE_txt.setValue(PGain_buffer, string_pgain);
    
    char string_igain[128];  
    sprintf(string_igain, "%f", i_gain);
    write_BCE_txt.setValue("IGain", string_igain);
    
    char string_dgain[128];  
    sprintf(string_dgain, "%f", d_gain);
    write_BCE_txt.setValue("DGain", string_dgain);
            
    write_BCE_txt.setValue("\n#string pot parameters\nzeroCounts", "253");
    write_BCE_txt.setValue("PistonTravelLimit", "320.0");
    write_BCE_txt.setValue("slope", "0.12176");
    write_BCE_txt.setValue("filterWn", "6.0");
    write_BCE_txt.setValue("deadband", "0.5");

    //SAVE THE DATA!
    pc().printf("Saving BCE PID data!");
    
    if (!write_BCE_txt.write("/local/bce.txt")) {
        pc().printf("\n\rERROR: (SAVE)Failure to write bce.txt file.");
    }
    else {
        pc().printf("\n\rFile bce.txt successful written.\n\r");
    } 
}

void ConfigFileIO::saveDepthData(float p_gain, float i_gain, float d_gain, int bce_zeroOffset) {       
    ConfigFile write_depth_txt;   //write to the config file
    
    char PGain_buffer[128];
    sprintf(PGain_buffer,"# depth outer loop parameters\n\n#Gains\nPGain");
    
    char string_pgain[128];  
    sprintf(string_pgain, "%f", p_gain);
    write_depth_txt.setValue(PGain_buffer, string_pgain);
    
    char string_igain[128];  
    sprintf(string_igain, "%f", i_gain);
    write_depth_txt.setValue("IGain", string_igain);
    
    char string_dgain[128];  
    sprintf(string_dgain, "%f", d_gain);
    write_depth_txt.setValue("DGain", string_dgain);
            
    write_depth_txt.setValue("\n#Depth sensor filter parameters\nfilterWn", "6.0");
    write_depth_txt.setValue("deadband", "0.5");
    
    char string_zeroOffset[128];
    sprintf(string_zeroOffset, "%d", bce_zeroOffset);
    //bce setting was 240 mm during LASR experiments
    write_depth_txt.setValue("\n#Offset for neutral (default: 240)\nzeroOffset", string_zeroOffset);
    
    //SAVE THE DATA!
    pc().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
    
    if (!write_depth_txt.write("/local/depth.txt")) {
        pc().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
    }
    else {
        pc().printf("\n\rFile depth.txt successful written.\n\r");
    } 
}

int ConfigFileIO::load_BCE_config() {
    ConfigFile cfg;
    int count = 0;
    if (!cfg.read("/local/bce.txt")) {
            error("File Read Error");
    }
    char value[BUFSIZ];
 
    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
        bce().setControllerP(atof(value));
        count++;
    }
    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
        bce().setControllerI(atof(value));
        count++;
    }
    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
        bce().setControllerD(atof(value));
        count++;
    }
    if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
        bce().setZeroCounts(atoi(value));
        count++;
    }
    if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
        bce().setTravelLimit(atof(value));
        count++;
    }
    if (cfg.getValue("slope", &value[0], sizeof(value))) {
        bce().setPotSlope(atof(value));
        count++;
    }
    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
        bce().setFilterFrequency(atof(value));
        count++;
    }
    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
        bce().setDeadband(atof(value));
        count++;
    }
    
    return count;     
}

int ConfigFileIO::load_BATT_config() {
    ConfigFile cfg;
    int count = 0;
    if (!cfg.read("/local/batt.txt")) {
            error("File Read Error");
    }
    char value[BUFSIZ];
 
    
    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
        batt().setControllerP(atof(value));
        count++;
    }
    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
        batt().setControllerI(atof(value));
        count++;
    }
    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
        batt().setControllerD(atof(value));
        count++;
    }
    if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
        batt().setZeroCounts(atoi(value));
        count++;
    }
    if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
        batt().setTravelLimit(atof(value));
        count++;
    }
    if (cfg.getValue("slope", &value[0], sizeof(value))) {
        batt().setPotSlope(atof(value));
        count++;
    }
    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
        batt().setFilterFrequency(atof(value));
        count++;
    }
    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
        batt().setDeadband(atof(value));
        count++;
    }
    
    return count;     
}

int ConfigFileIO::load_DEPTH_config() {
    ConfigFile cfg;
    int count = 0;
    if (!cfg.read("/local/depth.txt")) {
            error("File Read Error");
    }
    char value[BUFSIZ];
    
    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
        depthLoop().setControllerP(atof(value));
        count++;
    }
    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
        depthLoop().setControllerI(atof(value));
        count++;
    }
    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
        depthLoop().setControllerD(atof(value));
        count++;
    }
    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
        depthLoop().setFilterFrequency(atof(value));
        count++;
    }
    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
        depthLoop().setDeadband(atof(value));
        count++;
    }
    if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
        depthLoop().setOutputOffset(atof(value));
        count++;
    }    
    return count;
}

int ConfigFileIO::load_PITCH_config() {
    ConfigFile cfg;
    int count = 0;
    if (!cfg.read("/local/pitch.txt")){
            error("File Read Error");
    }
    char value[BUFSIZ];
    
    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
        pitchLoop().setControllerP(atof(value));
        count++;
    }
    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
        pitchLoop().setControllerI(atof(value));
        count++;
    }
    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
        pitchLoop().setControllerD(atof(value));
        count++;
    }
    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
        pitchLoop().setFilterFrequency(atof(value));
        count++;
    }
    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
        pitchLoop().setDeadband(atof(value));
        count++;
    }
    
    if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
        pitchLoop().setOutputOffset(atof(value));
        count++;
    }     
    return count;
}