Revision 84:eccd8e837134, committed 2019-02-19

Comitter:

joel_ssc

Date:

Tue Feb 19 20:11:43 2019 +0000

Parent:

83:53f9b1be4eb9

Commit message:

updated file management of logfiles and diagfile numbers

Changed in this revision

diff -r 53f9b1be4eb9 -r eccd8e837134 MbedLogger/MbedLogger.cpp
--- a/MbedLogger/MbedLogger.cpp	Fri Feb 15 16:14:22 2019 +0000
+++ b/MbedLogger/MbedLogger.cpp	Tue Feb 19 20:11:43 2019 +0000
@@ -189,7 +189,9 @@
 //prints current log file to the screen (terminal)
 void MbedLogger::printCurrentLogFile() {
     //open the file for reading
-    string file_name_string = _file_system_string + "LOG000.csv";
+    // string file_name_string = _file_system_string + "LOG000.csv";
+    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?
     
     _log_file_line_counter = 0;
 
@@ -220,7 +222,9 @@
 
 //OPEN FILE FOR READING
 
-    string file_name_string = _file_system_string + "LOG000.csv";
+    //string file_name_string = _file_system_string + "LOG000.csv";
+    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?
 
     _fp = fopen(file_name_string.c_str(), "r");
 
@@ -336,7 +340,9 @@
 
 
 void MbedLogger::continuouslyTransmitDataNoTimer() {
-    string file_name_string = _file_system_string + "LOG000.csv";
+    // string file_name_string = _file_system_string + "LOG000.csv";
+    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?
     
     _fp = fopen(file_name_string.c_str(), "r");
     
@@ -448,7 +454,9 @@
     setTransmitPacketNumber(0);
     
     //open the file
-    string file_name_string = _file_system_string + "LOG000.csv";
+    // string file_name_string = _file_system_string + "LOG000.csv";
+    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?
     _fp = fopen(file_name_string.c_str(), "r");
     
     //receive correct checksum, immediately send this packet
@@ -479,7 +487,9 @@
 //GET TOTAL NUMBER OF PACKETS!
         
     //open the file
-    string file_name_string = _file_system_string + "LOG000.csv";
+    // string file_name_string = _file_system_string + "LOG000.csv";
+    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?
     _fp = fopen(file_name_string.c_str(), "r");
     
     //DEFAULT STATE
@@ -810,7 +820,9 @@
 
 void MbedLogger::reOpenLineReader() {      
     //open a new one
-    string file_name_string = _file_system_string + "LOG000.csv";
+    // string file_name_string = _file_system_string + "LOG000.csv";
+    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?
 
     _fp = fopen(file_name_string.c_str(), "r");               //open the log file to read
     
@@ -819,12 +831,15 @@
         xbee().printf("ERROR: Log file could not be opened\n\r");
     }
     else {
-        xbee().printf("Current Log file (LOG000.csv) was opened.\n\r");
+        xbee().printf("Current Log file (%s) was opened.\n\r", configFileIO().logFilesStruct.logFileName);
     }
 }
 
 bool MbedLogger::openLineReader() {  
-    string file_name_string = _file_system_string + "LOG000.csv";
+    // string file_name_string = _file_system_string + "LOG000.csv";
+    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?
+
 
     _fp = fopen(file_name_string.c_str(), "r");               //open the log file to read
     
@@ -854,7 +869,10 @@
     //takes less than a second to complete, verified 7/24/2018
    
     //open the file
-    string file_name_string = _file_system_string + "LOG000.csv";
+    // string file_name_string = _file_system_string + "LOG000.csv";
+    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?
+
     _fp = fopen(file_name_string.c_str(), "r");
     
     fseek(_fp, 0L, SEEK_END);
@@ -888,7 +906,10 @@
 void MbedLogger::openWriteFile() {
     xbee().printf("Opening file for reception.\n\r");
     
-    string file_name_string = _file_system_string + "LOG000.csv";
+   // string file_name_string = _file_system_string + "LOG000.csv";
+    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?
+
 
     _fp = fopen(file_name_string.c_str(), "w");
 }
@@ -1344,7 +1365,9 @@
 }
 
 void MbedLogger::createEmptyLog() {    
-    string file_name_string = _file_system_string + "LOG000.csv";
+    // string file_name_string = _file_system_string + "LOG000.csv";
+    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?
     string empty_log = "EMPTY LOG";
 
     _fp = fopen(file_name_string.c_str(), "w");

diff -r 53f9b1be4eb9 -r eccd8e837134 StateMachine/StateMachine.cpp
--- a/StateMachine/StateMachine.cpp	Fri Feb 15 16:14:22 2019 +0000
+++ b/StateMachine/StateMachine.cpp	Tue Feb 19 20:11:43 2019 +0000
@@ -3,8 +3,8 @@
  
 StateMachine::StateMachine() {
     _timeout = 20;            // generic timeout for every state, seconds
-    _yo_time = 1.0e7;         // timeout for a dive or rise yo, not set for other ops
-    
+    _yo_time = 400;         // timeout for a dive or rise yo, not set for other ops
+    _state_transition_time = 60;  // time to allow motors to come to rest in float_broadcast
     _pitchTolerance = 5.0;     // pitch angle tolerance for FLOAT_LEVEL state
  
     _bceFloatPosition = bce().getTravelLimit();      // bce position for "float" states                  (max travel limit for BCE is 320 mm)
@@ -144,6 +144,8 @@
             xbee().printf("\r\n\nstate: EMERGENCY_CLIMB\r\n");
             _fsm_timer.reset(); // timer goes back to zero
             _fsm_timer.start(); // background timer starts running
+            _yotimer.reset();
+            _yotimer.start();
             _isTimeoutRunning = true; 
             
             // what needs to be started?
@@ -164,7 +166,7 @@
         }
         else if (depthLoop().getPosition() < 2.0) { //if the depth is greater than 0.2 feet, go to float broadcast
             _state = FLOAT_BROADCAST;
-            _fsm_timer.reset();
+            _fsm_timer.reset(); _yotimer.reset();
             _isTimeoutRunning = false;
         }
         
@@ -400,7 +402,7 @@
         if (!_isTimeoutRunning) {
             xbee().printf("\r\n\nstate: LEG POSITION DIVE first time - start timer\r\n");
             sprintf(buf, "LEG POSITION DIVE start first dive start timer\n\n\r");
-    mbedLogger().appendDiagFile(buf,0);
+            mbedLogger().appendDiagFile(buf,0);
             _fsm_timer.reset(); // timer goes back to zero  I am not sure about this reset  jcw
             _fsm_timer.start(); // background timer starts running
             _isTimeoutRunning = true; 
@@ -459,7 +461,8 @@
                 //retrieve commands from structs (loaded from missionleg.cfg file)
                 leg_max_depth = currentLegStateStruct.max_depth;
                 leg_heading = currentLegStateStruct.heading;
-
+                sprintf(buf, "LEG POSITION DIVE entered via Leg_pos_rise - lpd_oneshots, only restart _yotimer\n\n\r");
+                   mbedLogger().appendDiagFile(buf,0);
 
                 //DEPTH COMMAND
                 //depthLoop().setCommand(_depth_command);  // I want this to be the max_depth in the legStruct
@@ -484,6 +487,8 @@
                 _state = LEG_POSITION_RISE; //  now start a timer on yo_timer for rise
                 finish_leg =1;
                 lpr_oneshots=0;
+                sprintf(buf, "go to LEG POSITION DIVE on overall leg timeout, set finish_leg=1\n\n\r");
+            mbedLogger().appendDiagFile(buf,0);
                 // _fsm_timer.reset();
                 // _isTimeoutRunning = false;
             }
@@ -493,6 +498,7 @@
                 xbee().printf("LEG POS DIVE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
                 _state = LEG_POSITION_RISE;
                 lpr_oneshots = 0;
+                
                 // _fsm_timer.reset();  // reset time if still inside legg long timeout?
                 // _isTimeoutRunning = false;
             } else if(_yotimer.read() > _yo_time ) {
@@ -500,17 +506,19 @@
                 sprintf(buf, "LEG POS DIVE: yo_time timed out - go to LEG_POSITION_RISE\n\n\r");
     mbedLogger().appendDiagFile(buf,3);
                 _state = LEG_POSITION_RISE;
+                finish_leg =1;
                 //_yotimer.reset();
                 //_yotimer.start();    // restart the yo timer for next yo in rise mode    -- test if depth is small fraction of max_depth and exit to EC if small enough??
                 lpr_oneshots=0;
                 if (depthLoop().getPosition() < 0.7* depthLoop().getCommand()) {     //too slow - exit
-                    _state = EMERGENCY_CLIMB;
+                    _state = EMERGENCY_CLIMB;  // overridden here for testing
                     finish_leg = 1;
                     xbee().printf("LEG POS DIVE:descent too slow (<0.7*maxdepth) - go to EMERGENCY_CLIMB actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
-                    sprintf(buf, "LEG POS DIVE: descent too slow yo_time timed out - go to emergency climb\n\n\r");
+                    sprintf(buf, "LEG POS DIVE: descent too slow yo_time timed out - go to emergency climb but not really for testing\n\n\r");
                     mbedLogger().appendDiagFile(buf,3);
-                _fsm_timer.reset();
-                    _isTimeoutRunning = false;
+                   _state = LEG_POSITION_RISE;
+              //      _fsm_timer.reset();
+              //      _isTimeoutRunning = false;
                 }
             }
 
@@ -610,8 +618,8 @@
         }
         if (!lpr_oneshots) {
             xbee().printf("\r\n\nstate: LEG POSITION RISE  entered via LEG_POSiTION_DIVE finish\r\n");
-            sprintf(buf, "state: LEG POSITION RISE  entered via LEG_POSTION_DIVE\n\n\r");
-    mbedLogger().appendDiagFile(buf,3);
+            sprintf(buf, "state: LEG POSITION RISE  entered via LEG_POSITION_DIVE\n\n\r");
+            mbedLogger().appendDiagFile(buf,3);
             //_fsm_timer.reset(); // timer goes back to zero  --no
             _yotimer.reset();    //reset yo_timer;
             _yotimer.start();    //and start it
@@ -633,29 +641,42 @@
             xbee().printf("LEG POS RISE: BCE cmd: %3.1f\r\n",bce().getSetPosition_mm());    //get the actual commanded position
             xbee().printf("LEG POS RISE: heading cmd: %3.1f\r\n",headingLoop().getCommand());
             lpr_oneshots = 1;
-        }
+        }    // end if(!lpr_oneshots)
  
         // how exit?
         if (_fsm_timer.read() > _timeout) {
             xbee().printf("LEG POS RISE: timed out on overall timeout\r\n");
-            _state = EMERGENCY_CLIMB;
-            finish_leg = 1;
-            _fsm_timer.reset();
-            _isTimeoutRunning = false;
+            //  _state = EMERGENCY_CLIMB;
+            finish_leg = 1;  // not going immediately to Emergency_climb and not resetting timers means it will take 1 yo-time of rising first
+            // _fsm_timer.reset();
+            sprintf(buf, "LEG POSITION DIVE  Ended via overall timeout\n\n\r");
+            mbedLogger().appendDiagFile(buf,0);
+            // _isTimeoutRunning = false;
         }
-        else if (depthLoop().getPosition() < leg_min_depth - 0.5) {
+        else if (depthLoop().getPosition() < leg_min_depth - 0.5  ) {  // add in check for finish_leg. Don't flip flop between states in that case
             xbee().printf("LEG POS RISE: actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
             _state = LEG_POSITION_DIVE;
+            sprintf(buf, "LEG POSITION RISE  flip-flops to LEG_POSITION_DIVE on near surface pressure \n\n\r");
+            mbedLogger().appendDiagFile(buf,0);
             //_fsm_timer.reset();
             //_isTimeoutRunning = false;
             lpd_oneshots=0;
+               if(finish_leg ==1) { 
+               _state = EMERGENCY_CLIMB;
+               _fsm_timer.reset(); _yotimer.reset();
+               _isTimeoutRunning = false;
+               sprintf(buf, "LEG POSITION RISE ... ENDS,  and since finish_leg=1, go to Emergency climb\n\n\r");
+            mbedLogger().appendDiagFile(buf,0);
+               }
         }
         else if(_yotimer.read() > _yo_time ) {
             xbee().printf("LEG POS RISE: yo_time timed out - go to Emergency_CLIMB. Actual depth: %3.1f (cmd: %3.1f)\r\n", depthLoop().getPosition(), depthLoop().getCommand());
-            _state = EMERGENCY_CLIMB;
+            _state = EMERGENCY_CLIMB; // add diagnostics message
             finish_leg = 1;
-            _fsm_timer.reset();
+            _fsm_timer.reset(); _yotimer.reset();
             _isTimeoutRunning = false;
+            sprintf(buf, "LEG POSITION DIVE ... ENDS on yo_time too long, exit to emergnecy climb + finish_leg=1\n\n\r");
+            mbedLogger().appendDiagFile(buf,0);
             }
  
         // what is active?
@@ -712,6 +733,8 @@
             xbee().printf("\r\n\nstate: FLOAT_BROADCAST\r\n");
             _fsm_timer.reset(); // timer goes back to zero
             _fsm_timer.start(); // background timer starts running
+            _yotimer.reset();
+            _yotimer.start();
             _isTimeoutRunning = true; 
             
             // what needs to be started?
@@ -728,7 +751,7 @@
         
         // how exit?
         
-        if (_fsm_timer > _timeout ) {
+        if (_fsm_timer > _timeout || ( _yotimer > _state_transition_time)) {
             xbee().printf("FB: timed out\r\n");
             _state = SIT_IDLE;
             _fsm_timer.reset();
@@ -749,7 +772,7 @@
             
             //stop recording data
             //mbedLogger().closeFile();
-            
+            if(finish_leg == 1) { _state = FB_EXIT; }  // allows exit if finish_leg set by leg_POS_dive, or LEG_POS_RISE timeout or too slow yo
             _isTimeoutRunning = false;
         }
         

diff -r 53f9b1be4eb9 -r eccd8e837134 StateMachine/StateMachine.hpp
--- a/StateMachine/StateMachine.hpp	Fri Feb 15 16:14:22 2019 +0000
+++ b/StateMachine/StateMachine.hpp	Tue Feb 19 20:11:43 2019 +0000
@@ -122,6 +122,7 @@
 
     int _timeout;                // generic timeout for every state, seconds
     int _yo_time;                //  time allowed for one up or down in a leg of yo-yos
+    int _state_transition_time;
     float _pitchTolerance;       // pitch angle tolerance for neutral finding exit criteria
     float _bceFloatPosition;     // bce position for "float" states
     float _battFloatPosition;    // batt position for "broadcast" state

diff -r 53f9b1be4eb9 -r eccd8e837134 logvers.txt
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/logvers.txt	Tue Feb 19 20:11:43 2019 +0000
@@ -0,0 +1,2 @@
+LogFileVers=1
+DiagFileVers=1
\ No newline at end of file

diff -r 53f9b1be4eb9 -r eccd8e837134 main.cpp
--- a/main.cpp	Fri Feb 15 16:14:22 2019 +0000
+++ b/main.cpp	Tue Feb 19 20:11:43 2019 +0000
@@ -235,6 +235,26 @@
     setup_complete = true;    
 }
 
+void cycle_logfiles(int logversion, int diagversion) {
+   //int logversion;
+   //int diagversion;
+   char bufx[256];
+   sprintf(bufx, "\n\n\r in cycle_logfiles(%d, %d):  starting new diag file. Will add 1 to these values \n\n\r", logversion, diagversion);
+  mbedLogger().appendDiagFile(bufx,0);
+ mbedLogger().appendLogFile(current_state, 0);  //both files are now closed
+       //use the present values and increment
+  //logversion =  configFileIO().logFilesStruct.logversion  + 1;  
+  //diagversion = configFileIO().logFilesStruct.diagversion  + 1;
+  configFileIO().saveLogVersData(logversion+1, diagversion+1);   // updates the file logvers.txt
+  configFileIO().load_LogVers_config(0);    // now read them back into the structure
+  mbedLogger().initializeDiagFile(0);      //don't print before initializing
+  
+  
+  mbedLogger().initializeLogFile();
+  mbedLogger().initializeDiagFile(1);
+   
+}  
+
 /*************************** v1.8 **************************/
 
 int main() {   
@@ -251,8 +271,8 @@
     mbedLogger().appendDiagFile(buf,0);
     sprintf(buf, "finished setting up and will exit\n\n\r");
     mbedLogger().appendDiagFile(buf,3);
-    tNow=5; sprintf(buf, "log file config values logfile= %s     diag file= %s\n", configFileIO().logFilesStruct.logFileName,
-             configFileIO().logFilesStruct.diagFileName); tNow=0;
+    //tNow=5; sprintf(buf, "log file config values logfile= %s     diag file= %s\n", configFileIO().logFilesStruct.logFileName,
+     //        configFileIO().logFilesStruct.diagFileName); tNow=0;
     mbedLogger().appendDiagFile(buf,3);
     vernum = configFileIO().logFilesStruct.logversion;
     diagnum = configFileIO().logFilesStruct.diagversion;
@@ -263,6 +283,13 @@
     mbedLogger().appendDiagFile(buf,3);
      sprintf(buf, "try another messgae after closing file up and then will exit\n\n\r");
     mbedLogger().appendDiagFile(buf,0);
+    
+    
+    // increment the log file names once
+    //cycle_logfiles(vernum,diagnum);
+     //sprintf(buf, "This message should be in a new diag file\n\n\r");
+    //mbedLogger().appendDiagFile(buf,0);
+    // mbedLogger().appendLogFile(current_state, 1);
     //wait(5);
     //exit(0);
     systemTicker.attach_us(&system_timer, 1000);         // Interrupt timer running at 0.001 seconds       (slower than original ADC time interval)
@@ -272,9 +299,8 @@
             //install the leg variables in a structure, and set the state there.
             stateMachine().getLegParams(); //should set up everything with proper LEG_POSITION_DIVE state
             }
-    while (keeprunning) {        
-        if( read_ticker() )                         // read_ticker runs at the speed of 10 kHz (adc timing)
-        {
+    while (keeprunning) {
+        if( read_ticker() ) {                       // read_ticker runs at the speed of 10 kHz (adc timing)
             ++tNow;
 
             //Note to self: Retest data transmission code.
@@ -285,35 +311,57 @@
                     FSM();
                 }
             } // end if(currentstate..)
-            
+
             //NOT TRANSMITTING DATA, NORMAL OPERATIONS
-            else {  
-            //FSM
+            else {  // **88**
+                //FSM
                 if ( (tNow % 100) == 0 ) {   // 0.1 second intervals
                     fsm_loop = true;
                     FSM();
-                    
+
                     //get commands and update GUI
                     gui().getCommandFSM();
-                }        
-            //LOGGING     
-                if ( (tNow % 1000) == 0 ) {   // 1.0 second intervals                
+                }
+                //LOGGING
+                if ( (tNow % 1000) == 0 ) {   // 1.0 second intervals
+                    log_loop = true;
+                    log_function();
+                    sprintf(buf, "hit 1 second  log interval in main loop tNow =%d  \n\n\r", tNow);
+                    mbedLogger().appendDiagFile(buf,0);
+                }
+                //update the log and diagnostics files
+                if ( (tNow % 4600) == 0 ) {   // 1.0 hour intervals  check for testing via 7 second intervals
+                sprintf(buf, "hit 4.6  second  replace_logfiles interval in main loop tNow =%d  \n\n\r", tNow);
+                    mbedLogger().appendDiagFile(buf,0);
+                    vernum = configFileIO().logFilesStruct.logversion;
+                    diagnum = configFileIO().logFilesStruct.diagversion;
+                    sprintf(buf, "cycle log file names at 7.6 seconds. This message should be in old diag file\n\n\r");
+                    mbedLogger().appendDiagFile(buf,0);
+                  cycle_logfiles(vernum,diagnum);
+                    sprintf(buf, "cycled log files at 7 seconds, This message should be in a NEW diag file\n\n\r");
+                    mbedLogger().appendDiagFile(buf,0);
+                    //  close the log and diagnostics files
+                    // increment the version numbers for each
+                    //  save the new version numbers
+                    // initialize new log and diagnostics files
                     log_loop = true;
                     log_function();
                 }
-            } // end else {
-             if(current_state == FB_EXIT) {
-                    log_loop=true;
-                    log_function();
-                    keeprunning=0;  // and this will force exit to the main while() loop.
-                }   
+            } // end else { at  **88**
+            if(current_state == FB_EXIT) {
+                log_loop=true;
+                log_function();
+                keeprunning=0;  // and this will force exit to the main while() loop.
+                sprintf(buf, "INSIDE  main loop: BUT now called to exit out of it via FB_EXIT\n\n\r");
+                mbedLogger().appendDiagFile(buf,0);
+            }
         }  // end if(read_ticker) {
     }  // end while(keeprunning)
     mbedLogger().appendLogFile(current_state, 1);
-     sprintf(buf, "exiting out of the leg loop via FB_EXIT\n\n\r");
+    sprintf(buf, "outside of main loop:  exiting out of the leg loop via FB_EXIT\n\n\r");
     mbedLogger().appendDiagFile(buf,0);
-    wait(25);  
-    
+    wait(25);
+
     mbedLogger().appendLogFile(current_state, 1);
     mbedLogger().appendLogFile(current_state, 0);
     sprintf(buf, "wait 25 more seconds? out of the leg loop via FB_EXIT\n\n\r");

diff -r 53f9b1be4eb9 -r eccd8e837134 new_changelog.txt
--- a/new_changelog.txt	Fri Feb 15 16:14:22 2019 +0000
+++ b/new_changelog.txt	Tue Feb 19 20:11:43 2019 +0000
@@ -72,4 +72,16 @@
         - Did not check roll
         - KNOWN ISSUE of log file not having consistent line length (will throw off python data receiver)
     Modified code at Carderock (2018-08-16)
-        - Observations at LASR lead to fixes on the save PID files, zero offsets were saving incorrectly, fixed
\ No newline at end of file
+        - Observations at LASR lead to fixes on the save PID files, zero offsets were saving incorrectly, fixed
+    2019 feb 15 Modified code jcw
+        - LogOO?.csv name and version number is set with logvers.txt
+        - DIAG00?.txt likewise set with logvers.txt
+        - diagnostic logging to diagnostics file
+        - legfile.txt sets parameters ( max-depth, min_depth, heading, timeout, yo_time)  for a dive leg, after which mbed program ends
+             to allow monitor computer to access via usb filesystem
+        - added states:  Leg_position_dive, leg_position_rise,  fb_exit to handle above yo-yo leg and exit
+             have not yet added these states in menu operations.
+        STILL TO DO:
+        -  test size of log file and set new log file name and update logvers.txt
+        -  allow for something other than 0=leg  in legfile.txt so that state will NOT drop into legfile.txt operations mode
+        -  add access to leg_position_dive ( with exit??)  to menu operations  -maybe
\ No newline at end of file