New version of quadcopter software written to OO principles
Dependencies: mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS
Global/ConfigFileWrapper/ConfigFileWrapper.cpp
- Committer:
- joe4465
- Date:
- 2015-05-08
- Revision:
- 4:9ffbf9101992
- Parent:
- 2:969dfa4f2436
File content as of revision 4:9ffbf9101992:
#include "ConfigFileWrapper.h" ConfigFileWrapper::ConfigFileWrapper() { _str = new char[1024]; loadSettings(); DEBUG("Config file wrapper initialised\r\n"); } ConfigFileWrapper::~ConfigFileWrapper(){} PidWrapper::PidParameter ConfigFileWrapper::getYawRateParameters() { return _yawRateParameters; } PidWrapper::PidParameter ConfigFileWrapper::getPitchRateParameters() { return _pitchRateParameters; } PidWrapper::PidParameter ConfigFileWrapper::getRollRateParameters() { return _rollRateParameters; } PidWrapper::PidParameter ConfigFileWrapper::getYawStabParameters() { return _yawStabParameters; } PidWrapper::PidParameter ConfigFileWrapper::getPitchStabParameters() { return _pitchStabParameters; } PidWrapper::PidParameter ConfigFileWrapper::getRollStabParameters() { return _rollStabParameters; } PidWrapper::PidParameter ConfigFileWrapper::getAltitudeRateParameters() { return _altitudeRateParameters; } PidWrapper::PidParameter ConfigFileWrapper::getAltitudeStabParameters() { return _altitudeStabParameters; } bool ConfigFileWrapper::setYawRateParameters(PidWrapper::PidParameter pidParameters) { _yawRateParameters = pidParameters; return true; } bool ConfigFileWrapper::setPitchRateParameters(PidWrapper::PidParameter pidParameters) { _pitchRateParameters = pidParameters; return true; } bool ConfigFileWrapper::setRollRateParameters(PidWrapper::PidParameter pidParameters) { _rollRateParameters = pidParameters; return true; } bool ConfigFileWrapper::setYawStabParameters(PidWrapper::PidParameter pidParameters) { _yawStabParameters = pidParameters; return true; } bool ConfigFileWrapper::setPitchStabParameters(PidWrapper::PidParameter pidParameters) { _pitchStabParameters = pidParameters; return true; } bool ConfigFileWrapper::setRollStabParameters(PidWrapper::PidParameter pidParameters) { _rollStabParameters = pidParameters; return true; } bool ConfigFileWrapper::setAltitudeRateParameters(PidWrapper::PidParameter pidParameters) { _altitudeRateParameters = pidParameters; return true; } bool ConfigFileWrapper::setAltitudeStabParameters(PidWrapper::PidParameter pidParameters) { _altitudeStabParameters = pidParameters; return true; } float ConfigFileWrapper::getAccelZeroPitch() { return _accelZeroPitch; } float ConfigFileWrapper::getAccelZeroRoll() { return _accelZeroRoll; } bool ConfigFileWrapper::setAccelZeroPitch(float value) { _accelZeroPitch = value; return true; } bool ConfigFileWrapper::setAccelZeroRoll(float value) { _accelZeroRoll = value; return true; } void ConfigFileWrapper::convertToCharArray(double number) { sprintf(_str, "%1.8f", number ); } void ConfigFileWrapper::convertToCharArray(int number) { sprintf(_str, "%d", number ); } void ConfigFileWrapper::loadSettings() { char value[BUFSIZ]; DEBUG("Loading settings from config file\n\r"); //Read a configuration file from a mbed. LocalFileSystem local("local"); if (!_configFile.read("/local/CONFIG.CFG")) { DEBUG("Config file does not exist\n\r"); return; } else { //Get values if (_configFile.getValue("yawRatePIDControllerP", &value[0], sizeof(value))) _yawRateParameters.p = atof(value); else DEBUG("Failed to get value for yawRatePIDControllerP\n\r"); if (_configFile.getValue("yawRatePIDControllerI", &value[0], sizeof(value))) _yawRateParameters.i = atof(value); else DEBUG("Failed to get value for yawRatePIDControllerI\n\r"); if (_configFile.getValue("yawRatePIDControllerD", &value[0], sizeof(value))) _yawRateParameters.d = atof(value); else DEBUG("Failed to get value for yawRatePIDControllerD\n\r"); if (_configFile.getValue("pitchRatePIDControllerP", &value[0], sizeof(value))) _pitchRateParameters.p = atof(value); else DEBUG("Failed to get value for pitchRatePIDControllerP\n\r"); if (_configFile.getValue("pitchRatePIDControllerI", &value[0], sizeof(value))) _pitchRateParameters.i = atof(value); else DEBUG("Failed to get value for pitchRatePIDControllerI\n\r"); if (_configFile.getValue("pitchRatePIDControllerD", &value[0], sizeof(value))) _pitchRateParameters.d = atof(value); else DEBUG("Failed to get value for pitchRatePIDControllerD\n\r"); if (_configFile.getValue("rollRatePIDControllerP", &value[0], sizeof(value))) _rollRateParameters.p = atof(value); else DEBUG("Failed to get value for rollRatePIDControllerP\n\r"); if (_configFile.getValue("rollRatePIDControllerI", &value[0], sizeof(value))) _rollRateParameters.i = atof(value); else DEBUG("Failed to get value for rollRatePIDControllerI\n\r"); if (_configFile.getValue("rollRatePIDControllerD", &value[0], sizeof(value))) _rollRateParameters.d = atof(value); else DEBUG("Failed to get value for rollRatePIDControllerD\n\r"); if (_configFile.getValue("yawStabPIDControllerP", &value[0], sizeof(value))) _yawStabParameters.p = atof(value); else DEBUG("Failed to get value for yawStabPIDControllerP\n\r"); if (_configFile.getValue("yawStabPIDControllerI", &value[0], sizeof(value))) _yawStabParameters.i = atof(value); else DEBUG("Failed to get value for yawStabPIDControllerI\n\r"); if (_configFile.getValue("yawStabPIDControllerD", &value[0], sizeof(value))) _yawStabParameters.d = atof(value); else DEBUG("Failed to get value for yawStabPIDControllerD\n\r"); if (_configFile.getValue("pitchStabPIDControllerP", &value[0], sizeof(value))) _pitchStabParameters.p = atof(value); else DEBUG("Failed to get value for pitchStabPIDControllerP\n\r"); if (_configFile.getValue("pitchStabPIDControllerI", &value[0], sizeof(value))) _pitchStabParameters.i = atof(value); else DEBUG("Failed to get value for pitchStabPIDControllerI\n\r"); if (_configFile.getValue("pitchStabPIDControllerD", &value[0], sizeof(value))) _pitchStabParameters.d = atof(value); else DEBUG("Failed to get value for pitchStabPIDControllerD\n\r"); if (_configFile.getValue("rollStabPIDControllerP", &value[0], sizeof(value))) _rollStabParameters.p = atof(value); else DEBUG("Failed to get value for rollStabPIDControllerP\n\r"); if (_configFile.getValue("rollStabPIDControllerI", &value[0], sizeof(value))) _rollStabParameters.i = atof(value); else DEBUG("Failed to get value for rollStabPIDControllerI\n\r"); if (_configFile.getValue("rollStabPIDControllerD", &value[0], sizeof(value))) _rollStabParameters.d = atof(value); else DEBUG("Failed to get value for rollStabPIDControllerD\n\r"); if (_configFile.getValue("altitudeRatePIDControllerP", &value[0], sizeof(value))) _altitudeRateParameters.p = atof(value); else DEBUG("Failed to get value for altitudeRatePIDControllerP\n\r"); if (_configFile.getValue("altitudeRatePIDControllerI", &value[0], sizeof(value))) _altitudeRateParameters.i = atof(value); else DEBUG("Failed to get value for altitudeRatePIDControllerI\n\r"); if (_configFile.getValue("altitudeRatePIDControllerD", &value[0], sizeof(value))) _altitudeRateParameters.d = atof(value); else DEBUG("Failed to get value for altitudeRatePIDControllerD\n\r"); if (_configFile.getValue("altitudeStabPIDControllerP", &value[0], sizeof(value))) _altitudeStabParameters.p = atof(value); else DEBUG("Failed to get value for altitudeStabPIDControllerP\n\r"); if (_configFile.getValue("altitudeStabPIDControllerI", &value[0], sizeof(value))) _altitudeStabParameters.i = atof(value); else DEBUG("Failed to get value for altitudeStabPIDControllerI\n\r"); if (_configFile.getValue("altitudeStabPIDControllerD", &value[0], sizeof(value))) _altitudeStabParameters.d = atof(value); else DEBUG("Failed to get value for altitudeStabPIDControllerD\n\r"); if (_configFile.getValue("accelZeroPitch", &value[0], sizeof(value))) _accelZeroPitch = atof(value); else DEBUG("Failed to get value for accelZeroPitch\n\r"); if (_configFile.getValue("accelZeroRoll", &value[0], sizeof(value))) _accelZeroRoll = atof(value); else DEBUG("Failed to get value for accelZeroRoll\n\r"); /*if (_configFile.getValue("zeroPitch", &value[0], sizeof(value))) _zeroValues[1] = atof(value); else DEBUG("Failed to get value for zero pitch\n\r"); if (_configFile.getValue("zeroRoll", &value[0], sizeof(value))) _zeroValues[2] = atof(value); else printf("Failed to get value for zero roll\n\r");*/ } DEBUG("Finished loading settings from config file\n\r"); } bool ConfigFileWrapper::saveSettings() { DEBUG("Writing settings to config file\n\r"); LocalFileSystem local("local"); if (!_configFile.read("/local/CONFIG.CFG")) { DEBUG("Config file does not exist\n\r"); return false; } else { //Write values convertToCharArray(_yawRateParameters.p); if (!_configFile.setValue("yawRatePIDControllerP", _str)) DEBUG("Failed to write value for yawRatePIDControllerP\n\r"); convertToCharArray(_yawRateParameters.i); if (!_configFile.setValue("yawRatePIDControllerI", _str)) DEBUG("Failed to write value for yawRatePIDControllerI\n\r"); convertToCharArray(_yawRateParameters.d); if (!_configFile.setValue("yawRatePIDControllerD", _str)) DEBUG("Failed to write value for yawRatePIDControllerD\n\r"); convertToCharArray(_pitchRateParameters.p); if (!_configFile.setValue("pitchRatePIDControllerP", _str)) DEBUG("Failed to write value for pitchRatePIDControllerP\n\r"); convertToCharArray(_pitchRateParameters.i); if (!_configFile.setValue("pitchRatePIDControllerI", _str)) DEBUG("Failed to write value for pitchRatePIDControllerI\n\r"); convertToCharArray(_pitchRateParameters.d); if (!_configFile.setValue("pitchRatePIDControllerD", _str)) DEBUG("Failed to write value for pitchRatePIDControllerD\n\r"); convertToCharArray(_rollRateParameters.p); if (!_configFile.setValue("rollRatePIDControllerP", _str)) DEBUG("Failed to write value for rollRatePIDControllerP\n\r"); convertToCharArray(_rollRateParameters.i); if (!_configFile.setValue("rollRatePIDControllerI", _str)) DEBUG("Failed to write value for rollRatePIDControllerI\n\r"); convertToCharArray(_rollRateParameters.d); if (!_configFile.setValue("rollRatePIDControllerD", _str)) DEBUG("Failed to write value for rollRatePIDControllerD\n\r"); convertToCharArray(_yawStabParameters.p); if (!_configFile.setValue("yawStabPIDControllerP", _str)) DEBUG("Failed to write value for yawStabPIDControllerP\n\r"); convertToCharArray(_yawStabParameters.i); if (!_configFile.setValue("yawStabPIDControllerI", _str)) DEBUG("Failed to write value for yawStabPIDControllerI\n\r"); convertToCharArray(_yawStabParameters.d); if (!_configFile.setValue("yawStabPIDControllerD", _str)) DEBUG("Failed to write value for yawStabPIDControllerD\n\r"); convertToCharArray(_pitchStabParameters.p); if (!_configFile.setValue("pitchStabPIDControllerP", _str)) DEBUG("Failed to write value for pitchStabPIDControllerP\n\r"); convertToCharArray(_pitchStabParameters.i); if (!_configFile.setValue("pitchStabPIDControllerI", _str)) DEBUG("Failed to write value for pitchStabPIDControllerI\n\r"); convertToCharArray(_pitchStabParameters.d); if (!_configFile.setValue("pitchStabPIDControllerD", _str)) DEBUG("Failed to write value for pitchStabPIDControllerD\n\r"); convertToCharArray(_rollStabParameters.p); if (!_configFile.setValue("rollStabPIDControllerP", _str)) DEBUG("Failed to write value for rollStabPIDControllerP\n\r"); convertToCharArray(_rollStabParameters.i); if (!_configFile.setValue("rollStabPIDControllerI", _str)) DEBUG("Failed to write value for _rollStabPIDControllerI\n\r"); convertToCharArray(_rollStabParameters.d); if (!_configFile.setValue("rollStabPIDControllerD", _str)) DEBUG("Failed to write value for rollStabPIDControllerD\n\r"); convertToCharArray(_altitudeRateParameters.p); if (!_configFile.setValue("altitudeRatePIDControllerP", _str)) DEBUG("Failed to write value for altitudeRatePIDControllerP\n\r"); convertToCharArray(_altitudeRateParameters.i); if (!_configFile.setValue("altitudeRatePIDControllerI", _str)) DEBUG("Failed to write value for altitudeRatePIDControllerI\n\r"); convertToCharArray(_altitudeRateParameters.d); if (!_configFile.setValue("altitudeRatePIDControllerD", _str)) DEBUG("Failed to write value for altitudeRatePIDControllerD\n\r"); convertToCharArray(_altitudeStabParameters.p); if (!_configFile.setValue("altitudeStabPIDControllerP", _str)) DEBUG("Failed to write value for altitudeStabPIDControllerP\n\r"); convertToCharArray(_altitudeStabParameters.i); if (!_configFile.setValue("altitudeStabPIDControllerI", _str)) DEBUG("Failed to write value for altitudeStabPIDControllerI\n\r"); convertToCharArray(_altitudeStabParameters.d); if (!_configFile.setValue("altitudeStabPIDControllerD", _str)) DEBUG("Failed to write value for altitudeStabPIDControllerD\n\r"); convertToCharArray(_accelZeroPitch); if (!_configFile.setValue("accelZeroPitch", _str)) DEBUG("Failed to write value for accelZeroPitch\n\r"); convertToCharArray(_accelZeroRoll); if (!_configFile.setValue("accelZeroRoll", _str)) DEBUG("Failed to write value for accelZeroRoll\n\r"); //convertToCharArray(_zeroValues[1]); //if (!_configFile.setValue("_zeroPitch", _str)) DEBUG("Failed to write value for zero pitch\n\r"); //convertToCharArray(_zeroValues[2]); //if (!_configFile.setValue("_zeroRoll", _str)) DEBUG("Failed to write value for zero roll\n\r"); if (!_configFile.write("/local/CONFIG.CFG")) { DEBUG("Failure to write settings to configuration file.\n\r"); return false; } else { DEBUG("Successfully wrote settings to configuration file.\n\r"); return true; } } }