RobotArmCfg.cpp

00001 // Copyright (c) Microsoft. All rights reserved.
00002 // Licensed under the MIT license. See LICENSE file in the project root for full license information.
00003 
00004 #include "mbed.h"
00005 #include "SDFileSystem.h"
00006 #include "ConfigFile.h"
00007 
00008 #include "RobotArmCfg.h"
00009 
00010 SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd"); //MOSI, MISO, SCLK, SSEL
00011 
00012 ConfigFile cfg;
00013 
00014 // connection string filled in from configuration file
00015 // if not using input.cfg configuration file specify connection string here
00016 //    String containing IoT hub Hostname, Device Id & Device Key in the format:
00017 //      "HostName=<host_name>;DeviceId=<device_id>;SharedAccessKey=<device_key>"
00018 char* connectionString = "[device connection string]";
00019 
00020 // specify joints in arm
00021 // if not using input.cfg configuration file specify joints here
00022 //static NodeCfg ArmJoints[NUMJOINTS] = {
00023 //    { NT_AX12, 2 },
00024 //    { NT_AX12, 3 },
00025 //    { NT_AX12, 4 },
00026 //    { NT_AX12, 6 },
00027 //    { NT_AX12, 1 }
00028 //};
00029 
00030 // joints array filled in from configuration file
00031 NodeCfg ArmJoints[NUMJOINTS];
00032 
00033 // read config values from file input.cfg on SD card
00034 // example format of file is
00035 // JointType_0=AX12
00036 // JointType_1=AX12
00037 // JointType_2=AX12
00038 // JointType_3=AX12
00039 // JointType_4=AX12
00040 // JointId_0=2
00041 // JointId_1=3
00042 // JointId_2=4
00043 // JointId_3=6
00044 // JointId_4=1
00045 // IoTConnection=HostName=[device connection string]
00046 //
00047 bool ReadConfigValues()
00048 {
00049     char value[BUFSIZ];
00050     bool rc = true;
00051     
00052     printf("Reading config\r\n");
00053     
00054     /* Read a configuration file from a mbed. */
00055     if (!cfg.read("/sd/input.cfg")) {
00056         // sometimes fails first time. Try again
00057         if (!cfg.read("/sd/input.cfg")) {        
00058             printf("Failure to read a configuration file.\r\n");
00059             rc = false;
00060         }
00061     }
00062  
00063     /* Get configuration values.  */
00064     if (cfg.getValue("IoTConnection", &value[0], sizeof(value))) {
00065         int len = strlen(value) + 1;
00066         connectionString = (char*)malloc(len);
00067         strcpy(connectionString, value);
00068     }
00069     else
00070     {
00071         printf("Failure to read a configuration file value IoTConnection.\r\n");
00072         rc = false;
00073     }
00074     
00075     for (int ix = 0; ix < NUMJOINTS; ix++)
00076     {
00077         char key[20];
00078         
00079         sprintf(key, "JointType_%d", ix);
00080         if (cfg.getValue(key, &value[0], sizeof(value))) {
00081             ArmJoints[ix].JointType = NT_AX12;
00082         }
00083         else
00084         {
00085             printf("Failure to read a configuration file value %s.\r\n", key);
00086             rc = false;
00087         }
00088         sprintf(key, "JointId_%d", ix);
00089         if (cfg.getValue(key, &value[0], sizeof(value))) {
00090             ArmJoints[ix].JointId = atoi(value);
00091         }
00092         else
00093         {
00094             printf("Failure to read a configuration file value %s.\r\n", key);
00095             rc = false;
00096         }
00097     }
00098     
00099     return rc;
00100 }