Revision 88:1813f583cee9, committed 2019-05-09

Comitter:

joel_ssc

Date:

Thu May 09 14:26:40 2019 +0000

Parent:

87:6d95f853dab3

Child:

89:0b8291dbf340

Commit message:

all functionality to splashdown, find neutral, and start mission.; short timeouts for testing still in code.

Changed in this revision

--- a/ConfigFileIO/ConfigFileIO.cpp	Wed May 08 13:24:04 2019 +0000
+++ b/ConfigFileIO/ConfigFileIO.cpp	Thu May 09 14:26:40 2019 +0000
@@ -548,6 +548,28 @@
         xbee().printf("\n\rFile no_float.txt  written.\n\r");
     } 
 }
+void ConfigFileIO::save_FinalTime() {
+    ConfigFile timefile_txt;
+    int last_time;
+    char header[128];
+    sprintf(header,"# Timestamp at last moment before closing shop\n");
+
+    char string_end_time[128];  
+    last_time = mbedLogger().getSystemTime(); 
+    sprintf(string_end_time, "%d", last_time);
+    timefile_txt.setValue("TimeStamp", string_end_time);
+    
+    
+    //SAVE THE DATA!
+    xbee().printf("Saving timestamp value!");
+    
+    if (!timefile_txt.write("/local/newtime.txt")) {
+        xbee().printf("\n\rERROR: (SAVE)Failure to write time.txt file.");
+        }
+else {
+        xbee().printf("\n\rFile newtime.txt successfully written.\n\r");
+    } 
+}
 int ConfigFileIO::load_DEPTH_config() {
     ConfigFile cfg;
     int count = 0;

--- a/ConfigFileIO/ConfigFileIO.hpp	Wed May 08 13:24:04 2019 +0000
+++ b/ConfigFileIO/ConfigFileIO.hpp	Thu May 09 14:26:40 2019 +0000
@@ -39,6 +39,7 @@
     void saveNeutralStatus(int setval, int bce_neutral_mm, int batt_neutral_mm);
     int load_setneutral_status();
     void report_no_neutral_found(int bce_last_pos, int batt_last_pos);
+    void save_FinalTime();
     void report_still_inverted( float roll_value, int yotime);
     void saveLogVersData(int logversion,  int diagversion);
     int load_BATT_config();

--- a/StateMachine/StateMachine.cpp	Wed May 08 13:24:04 2019 +0000
+++ b/StateMachine/StateMachine.cpp	Thu May 09 14:26:40 2019 +0000
@@ -2630,6 +2630,11 @@
     _state   = currentLegStateStruct.state;
     // _multi_leg_counter += 1;  // this is wrong, because this subroutine is called multiple times on the same leg, I need indicator of 'next_leg', first.
 }
+void StateMachine::setstate_frommain(int set_state_val, int new_timeout) {  // used for setting state from main, when find_neutral has not been run
+    _state = set_state_val;
+    _timeout = new_timeout;
+    }
+
 
 void StateMachine::printCurrentSdLog() {
     xbee().printf("SD card log work in progress\r\n");

--- a/StateMachine/StateMachine.hpp	Wed May 08 13:24:04 2019 +0000
+++ b/StateMachine/StateMachine.hpp	Thu May 09 14:26:40 2019 +0000
@@ -92,6 +92,7 @@
     
     int getState();
     void setState(int input_state);
+    void setstate_frommain(int set_state_val, int new_timeout);
     
     void setTimeout(float input_timeout);    
     void setDepthCommand(float input_depth_command);    

--- a/main.cpp	Wed May 08 13:24:04 2019 +0000
+++ b/main.cpp	Thu May 09 14:26:40 2019 +0000
@@ -44,7 +44,7 @@
     if (log_loop) {  //start logloop8
         //when the state machine is not in SIT_IDLE state (or a random keyboard press)
         
-        if(current_state != 0) {  //first if  - not in sit_idle/keyboard state
+        if((current_state != SIT_IDLE)   &&  (current_state != FLYING_IDLE)) {  //first if  - not in sit_idle/keyboard state
             if (!file_opened) {                                 //if the log file is not open, open it
                 mbedLogger().appendLogFile(current_state, 1);   //open MBED file once
                 //sdLogger().appendLogFile(current_state, 0);     //open SD file once
@@ -243,6 +243,7 @@
     have_legfile = legController().loadLeg();  // this should be 1 if the legfile reader has found 1 or more legs
     
     current_state = legController().legStructLoaded[0].state;
+    begin_state = current_state;
     sprintf(buf, "in setup(): have_legfile = %d    current_state = %d (sit_idle= 0 or 1)\n", have_legfile, current_state);
     mbedLogger().appendDiagFile(buf,3);
     sprintf(buf, "in setup(): LEG_POSITION_DIVE = %d   START_SWIM = %d \n", LEG_POSITION_DIVE, START_SWIM);
@@ -306,7 +307,7 @@
 int main() {   
     setup();    //setup electronics/hardware
     // on landing, check orientation, if upside down, fix that first
-    systemTicker.attach_us(&system_timer, 1000);         // Interrupt timer running at 0.001 seconds       (slower than original ADC time interval)
+    // systemTicker.attach_us(&system_timer, 1000);         // Interrupt timer running at 0.001 seconds       (slower than original ADC time interval)
     led2()=1; led4()=0;
     unsigned int tNow = 0;
     int vernum=0;
@@ -315,6 +316,8 @@
     xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee (setup complete) \n\n\r");
     sprintf(buf, "\n\n\r 2019-may-07 FSG PCB XBee line315  in main (setup complete) \n\n\r");
     mbedLogger().appendDiagFile(buf,3);
+    int fn_timeout = 240;
+    int save_timeout = 300;
     
     
     //tNow=5; sprintf(buf, "log file config values logfile= %s     diag file= %s\n", configFileIO().logFilesStruct.logFileName,
@@ -378,6 +381,33 @@
             //NOT TRANSMITTING DATA, NORMAL OPERATIONS
             else {  // **88**
                 //FSM
+                       // preamble to running the FSM
+                if (setval == 0 && (begin_state != FLYING_IDLE) && (current_state == START_SWIM  || current_state == LEG_POSITION_DIVE) && (fabs(imu().getRoll()) < 30)) {
+                    // These tests mean: - second start,plus already upright
+                    // from setup()  current_state = legController().legStructLoaded[0].state; either start_swim or leg_pos_dive
+                    save_state = current_state;
+                    neutral_via_leg =1;
+                    save_timeout = legController().legStructLoaded[0].timeout;
+                    fn_timeout = 240;
+                    current_state = FIND_NEUTRAL;  // does runStatemachine know about this value?
+                    sprintf(buf, "in main(): setval==0, but upright, so pre-empt start_swim or leg_pos_dive\n  set state directly  to find_neutral\n");
+                    mbedLogger().appendDiagFile(buf,3);
+                    stateMachine().setstate_frommain(FIND_NEUTRAL, fn_timeout);  // this will change state inside runstatemachine, change state val inthe right structure, first
+                }
+                if ( (neutral_via_leg == 1) && (setval == 1) && current_state == RISE) {  // usual endstate of FIND_NEUTRAL new state for after successful find neutral
+                    current_state = save_state;   //setval reset at line 366  when find_neutral succeeds
+                    stateMachine().setstate_frommain(current_state, save_timeout);   //back to what you were doing
+                    sprintf(buf, "in main(): presumably after find_neutral exits to RISE, but successful in setting setval\n");
+                    mbedLogger().appendDiagFile(buf,3);
+                    neutral_via_leg = 0;
+                }
+                if ( (neutral_via_leg == 1) && (setval == 0) && current_state == RISE) {  // failed endstate of FIND_NEUTRAL new state
+                    
+                    sprintf(buf, "in main(): presumably after find_neutral exits to RISE, UNSUCCESSFULLY\n");
+                    mbedLogger().appendDiagFile(buf,3);
+                    neutral_via_leg = 0;
+                }
+                      // end preamble
                 if ( (tNow % 100) == 0 ) {   // 0.1 second intervals
                     fsm_loop = true;
                     FSM();
@@ -447,5 +477,6 @@
     sprintf(buf, "wait 5 more seconds? out of the leg loop via FB_EXIT\n\n\r");
     mbedLogger().appendDiagFile(buf,0);
     led1()=0; led2()=0; led3()= 0 ;led4()=0;
+    configFileIO().save_FinalTime();   // saves last time before closing shop
     exit(0);
 }  // end main()
\ No newline at end of file