Abstraction for the glider class
Glider.cpp@5:460412fc4a17, 2017-04-13 (annotated)
- Committer:
- chasefarmer2808
- Date:
- Thu Apr 13 15:10:29 2017 +0000
- Revision:
- 5:460412fc4a17
- Parent:
- 4:ff59603d9fb6
- Child:
- 6:bb82dd1618c2
saves packet count
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chasefarmer2808 | 0:4e6b53a7bd38 | 1 | #include "Glider.h" |
chasefarmer2808 | 0:4e6b53a7bd38 | 2 | |
chasefarmer2808 | 2:cc07e65227ff | 3 | Glider::Glider(Serial* device, PinName sda, PinName scl, PinName tx, PinName rx) : xbeeRxInt(rx) { |
chasefarmer2808 | 0:4e6b53a7bd38 | 4 | dev = device; |
chasefarmer2808 | 3:d8932a3036a8 | 5 | dev->printf("constructing glider..."); |
chasefarmer2808 | 5:460412fc4a17 | 6 | initSaveData(); |
chasefarmer2808 | 1:7039ae86fe70 | 7 | xbee = new Serial(tx, rx); |
chasefarmer2808 | 1:7039ae86fe70 | 8 | heading = 0.0; |
chasefarmer2808 | 1:7039ae86fe70 | 9 | pressure = 0.0; |
chasefarmer2808 | 1:7039ae86fe70 | 10 | temp = 0.0; |
chasefarmer2808 | 1:7039ae86fe70 | 11 | alt = 0.0; |
chasefarmer2808 | 5:460412fc4a17 | 12 | //packetCount = 0; |
chasefarmer2808 | 2:cc07e65227ff | 13 | comm = false; |
chasefarmer2808 | 4:ff59603d9fb6 | 14 | transmitFlag = false; |
chasefarmer2808 | 0:4e6b53a7bd38 | 15 | hmc = new HMC5883L(sda, scl); |
chasefarmer2808 | 0:4e6b53a7bd38 | 16 | bmp = new BMP180(sda, scl); |
chasefarmer2808 | 0:4e6b53a7bd38 | 17 | bmp->Initialize(1013.25, BMP180_OSS_ULTRA_LOW_POWER); |
chasefarmer2808 | 3:d8932a3036a8 | 18 | xbeeRxInt.rise(this, &Glider::setCommandFlag); |
chasefarmer2808 | 0:4e6b53a7bd38 | 19 | } |
chasefarmer2808 | 0:4e6b53a7bd38 | 20 | |
chasefarmer2808 | 0:4e6b53a7bd38 | 21 | void Glider::setHeading() { |
chasefarmer2808 | 0:4e6b53a7bd38 | 22 | this->heading = this->hmc->getHeadingXYDeg(); |
chasefarmer2808 | 0:4e6b53a7bd38 | 23 | } |
chasefarmer2808 | 0:4e6b53a7bd38 | 24 | |
chasefarmer2808 | 0:4e6b53a7bd38 | 25 | void Glider::setTempPress() { |
chasefarmer2808 | 0:4e6b53a7bd38 | 26 | bmp->ReadData(&this->temp, &this->pressure, &this->alt); |
chasefarmer2808 | 0:4e6b53a7bd38 | 27 | } |
chasefarmer2808 | 0:4e6b53a7bd38 | 28 | |
chasefarmer2808 | 1:7039ae86fe70 | 29 | void Glider::setMissionTime() { |
chasefarmer2808 | 3:d8932a3036a8 | 30 | this->dev->printf("current time: %d\r\n", this->missionTime); |
chasefarmer2808 | 1:7039ae86fe70 | 31 | this->missionTime = time(NULL) - this->startTime; |
chasefarmer2808 | 1:7039ae86fe70 | 32 | } |
chasefarmer2808 | 1:7039ae86fe70 | 33 | |
chasefarmer2808 | 4:ff59603d9fb6 | 34 | void Glider::setTransmitFlag() { |
chasefarmer2808 | 4:ff59603d9fb6 | 35 | this->transmitFlag = true; |
chasefarmer2808 | 4:ff59603d9fb6 | 36 | } |
chasefarmer2808 | 4:ff59603d9fb6 | 37 | |
chasefarmer2808 | 0:4e6b53a7bd38 | 38 | void Glider::saveTelem() { |
chasefarmer2808 | 0:4e6b53a7bd38 | 39 | FILE *fp = fopen("/telem/telem.txt", "w"); |
chasefarmer2808 | 0:4e6b53a7bd38 | 40 | fprintf(fp, "hello,"); |
chasefarmer2808 | 1:7039ae86fe70 | 41 | fclose(fp); |
chasefarmer2808 | 1:7039ae86fe70 | 42 | } |
chasefarmer2808 | 1:7039ae86fe70 | 43 | |
chasefarmer2808 | 5:460412fc4a17 | 44 | void Glider::initSaveData() { |
chasefarmer2808 | 2:cc07e65227ff | 45 | this->dev->printf("getting the time...\r\n"); |
chasefarmer2808 | 3:d8932a3036a8 | 46 | FILE *fp = fopen("/telem/data.txt", "r"); //attempt to read the saved data |
chasefarmer2808 | 2:cc07e65227ff | 47 | |
chasefarmer2808 | 3:d8932a3036a8 | 48 | if (fp == NULL) { //file does not exist |
chasefarmer2808 | 3:d8932a3036a8 | 49 | this->dev->printf("starting the time...\r\n"); |
chasefarmer2808 | 3:d8932a3036a8 | 50 | this->startTime = time(NULL); //initialize the start time to now |
chasefarmer2808 | 5:460412fc4a17 | 51 | this->packetCount = 0; |
chasefarmer2808 | 3:d8932a3036a8 | 52 | FILE *fp1 = fopen("/telem/data.txt", "w"); //create the data file |
chasefarmer2808 | 5:460412fc4a17 | 53 | fprintf(fp1, "%d %d", this->startTime, this->packetCount); //save the start time |
chasefarmer2808 | 2:cc07e65227ff | 54 | fclose(fp1); |
chasefarmer2808 | 2:cc07e65227ff | 55 | return; |
chasefarmer2808 | 2:cc07e65227ff | 56 | } |
chasefarmer2808 | 3:d8932a3036a8 | 57 | |
chasefarmer2808 | 5:460412fc4a17 | 58 | fscanf(fp, "%d %d", &this->startTime, &this->packetCount); |
chasefarmer2808 | 2:cc07e65227ff | 59 | this->dev->printf("start time: %d\r\n", this->startTime); |
chasefarmer2808 | 5:460412fc4a17 | 60 | this->dev->printf("start packetCount: %d\r\n", this->packetCount); |
chasefarmer2808 | 2:cc07e65227ff | 61 | rewind(fp); |
chasefarmer2808 | 2:cc07e65227ff | 62 | fclose(fp); |
chasefarmer2808 | 2:cc07e65227ff | 63 | } |
chasefarmer2808 | 2:cc07e65227ff | 64 | |
chasefarmer2808 | 3:d8932a3036a8 | 65 | void Glider::saveData() { //bad |
chasefarmer2808 | 2:cc07e65227ff | 66 | FILE *fp = fopen("/telem/data.txt", "w"); |
chasefarmer2808 | 5:460412fc4a17 | 67 | this->dev->printf("saving packet count: %d\r\n", this->packetCount); |
chasefarmer2808 | 5:460412fc4a17 | 68 | fprintf(fp, "%d %d", this->startTime, this->packetCount); |
chasefarmer2808 | 2:cc07e65227ff | 69 | fclose(fp); |
chasefarmer2808 | 2:cc07e65227ff | 70 | } |
chasefarmer2808 | 2:cc07e65227ff | 71 | |
chasefarmer2808 | 1:7039ae86fe70 | 72 | void Glider::transmitPacket() { |
chasefarmer2808 | 1:7039ae86fe70 | 73 | //TODO: transmit mission time, packet count, alt, pressure, speed |
chasefarmer2808 | 1:7039ae86fe70 | 74 | //temp, voltage, state |
chasefarmer2808 | 4:ff59603d9fb6 | 75 | this->packetCount++; |
chasefarmer2808 | 4:ff59603d9fb6 | 76 | |
chasefarmer2808 | 4:ff59603d9fb6 | 77 | this->xbee->printf("3387, GLIDER, %f, %d, %d\r\n", this->heading, this->missionTime, this->packetCount); |
chasefarmer2808 | 1:7039ae86fe70 | 78 | } |
chasefarmer2808 | 2:cc07e65227ff | 79 | |
chasefarmer2808 | 3:d8932a3036a8 | 80 | void Glider::setCommandFlag() { |
chasefarmer2808 | 2:cc07e65227ff | 81 | this->comm = true; |
chasefarmer2808 | 2:cc07e65227ff | 82 | } |
chasefarmer2808 | 2:cc07e65227ff | 83 | |
chasefarmer2808 | 2:cc07e65227ff | 84 | void Glider::processCommand() { |
chasefarmer2808 | 2:cc07e65227ff | 85 | if (this->comm) { //command recieved |
chasefarmer2808 | 2:cc07e65227ff | 86 | char command = this->xbee->getc(); |
chasefarmer2808 | 3:d8932a3036a8 | 87 | |
chasefarmer2808 | 3:d8932a3036a8 | 88 | switch (command) { |
chasefarmer2808 | 3:d8932a3036a8 | 89 | case BUZZER: |
chasefarmer2808 | 3:d8932a3036a8 | 90 | this->dev->printf("buzzing...\r\n"); |
chasefarmer2808 | 3:d8932a3036a8 | 91 | while(1); |
chasefarmer2808 | 3:d8932a3036a8 | 92 | break; |
chasefarmer2808 | 3:d8932a3036a8 | 93 | } |
chasefarmer2808 | 3:d8932a3036a8 | 94 | |
chasefarmer2808 | 2:cc07e65227ff | 95 | this->comm = false; |
chasefarmer2808 | 2:cc07e65227ff | 96 | } |
chasefarmer2808 | 2:cc07e65227ff | 97 | } |