File content as of revision 2:be605799793f:

#include "mbed.h"
#include "MODSERIAL.h"
#include "BluetoothComm.h"
#include "init.h"
//#include "SDFile.cpp"
#include <string>
#include <map>
//Variable indices for setValues: setValues should take an array of length NUMVARS + NUMREADONLYPARAMS = 34. 
//Map of variables to array indices is as follows:
//0 = Torso Angle, 1 = Left Knee Angle, 2 = Right Knee Angle, 3 = Left Hip angle, 4 = Right Hip angle, 5 = Left Hip Torque, 6 = Right Hip Torque
//8 = Exo State/Left Knee State/Right Knee State 9 = Torso Ref. Angle, 10 = Left Hip Ref. Angle, 11 = Right Hip Ref. Angle
//12 = KP Stance, 13 = KP Swing, 14 = KP Standing, 15 = KP Sitting, 16 = KP Standing up, 17 = KP Sitting down
//18 = KD Stance, 19 = KD Swing, 20 = KD Standing, 21 = KD Sitting, 22 = KD Standing up, 23 = KD sitting down
//24 = Standing angle, 25 = Sitting angle, 26 = Bent Forward Angle, 27 = Forward Angle, 28 = Rear Angle, 29 = IMU Angle
//30 = Knee Full Retract, 31 = Knee Full Extend, 32 = Lock Time, 33 = Rate
BluetoothComm::BluetoothComm(PinName tx, PinName rx): rn42(tx, rx), len(0), counter(0), inMsg(false), numVars(22), numReadOnlyParams(12), escapesNeeded(8)
{
    rn42.baud(9600);
    printf("Started BTComm init \r\n");
  //  rn42.baud(115200);
    int temp1[] = {0,1,2,3,4,8,9,10, -1};
  
    for (int i = 0; i < escapesNeeded+1; i++) {
        escapeNeeded[i] = temp1[i];
    }
    
  
    std::string temp2[] = {"KPStance", "KPSwing", "KPStanding", "KPSitting", "KPStandUp", "KPSitdown", "KDStance", "KDSwing",
        "KDStanding", "KDSitting", "KDStandUp", "KDSitDown", "StandingAngle", "SittingAngle", "BentForwardAngle", "ForwardAngle", "RearAngle",
        "IMUAngle", "KneeFullRetract", "KneeFullExtend", "LockTime", "Rate", "TorsoAng", "LKneeAng", "RKneeAng", "LHipAng", "RHipAng", "LHipTorque",
        "RHipTorque", "ExoAndKneeStates", "TorsoRefAngle",
        "LHipRefAngle", "RHipRefAngle", "Charge"};
    //Populate the map of indices to param names
    for (int j = 0; j < (numVars + numReadOnlyParams); j += 1) {
        indexMap[j] = temp2[j];
    }
    
   //Fill the parameter map with data from SD card
   readDataFromSD();
  
   readParamsFromSD();
 

}

//Reads read-only data from SD card, and fills in the parameter map
void BluetoothComm::readDataFromSD() {
    /
    int *arr = readData.read(arr, numVars);
    for (int i = 0; i < numReadOnlyParams; i += 1) {
        paramMap[indexMap[i + numVars]] = arr[i];
    }
}

//Reads editable parameters from SD card, and fills in the parameter map
void BluetoothComm::readParamsFromSD() {
    int *arr = param.read(arr, numVars);
    for (int i = 0; i < numVars; i += 1) {
        paramMap[indexMap[i]] = arr[i];
    }
}   


//Calculates parity--0 if c even, 1 if odd
bool BluetoothComm::parity(short c)
{
    bool p = false;
    while (c != 0) {
        p = !p;
        c = (short) (c & (c-1));
    }
    return p;
}

//Calculates checksum of char array, sum of all chars in array
char* BluetoothComm::checkSum(char* b, int len)
{
    char* checksum = (char*)malloc(3*sizeof(char));
    short sum = 0;
    for (int i = 0; i < len; i += 1) {
        sum += ((short) b[i] & 0xff);
    }
    //sum = (short) (-1*sum);
    checksum[1] = (char) ((sum >> 8) & 0xff);
    checksum[2] = (char) (sum & 0xff);
    char check = (char) (sum & 0xff);
    //Sets escape character if the checksum contains START or END
    if (check == START || check == END) {
        checksum[0] = 1;
        checksum[2] = (char) (checksum[2] & 0x1);
    } else {
        checksum[0] = 0;
    }
    return checksum;
}

//Sends error message
void BluetoothComm::sendError(char errCode)
{
    rn42.putc(START);
    rn42.putc(errCode);
    rn42.putc(END);
    rn42.putc(0);
    rn42.putc(0);
    rn42.putc(0);
}

//Sets charge level
void BluetoothComm::setCharge(short level) {
   // readOnlyParams[11] = level;
   paramMap["Charge"] = level;
}

//Sends the speified char array
void BluetoothComm::send(char *cmd)
{
    for (int i = 0; i < 50; i++) {
        rn42.putc(cmd[i]);
    }
}

//Sets the parameter map, based on the input map NEWVALUES
void BluetoothComm::setValues(std::map<string, short> newValues) {

    for (std::map<string, short>::iterator it = newValues.begin(); it != newValues.end(); ++it) {
        paramMap[it->first] = it->second;
    }
}

//Writes the editable params. stored in paramMap to the SD card
void BluetoothComm::writeParamsToSDCard() {
  
    int paramValues[numVars];
    for (int i = 0; i < numVars; i += 1) {
        paramValues[i] = (int) paramMap[indexMap[i]];
    }
    param.write(paramValues, numVars);
    
}

//Write the read-only values stored in paramMap to the SD card
void BluetoothComm::writeDataToSDCard() {
    int dataValues[numReadOnlyParams];
    for (int i = 0; i < numReadOnlyParams; i += 1) {
        dataValues[i] = (int) paramMap[indexMap[i + numVars]];
    }
    param.write(dataValues, numReadOnlyParams);
}

//Sends the paramList with START/END, parity bits, and a checksum
void BluetoothComm::sendValues(char* paramList)
{
    char msg[2*numVars+6];
    int len=2;
    //printf("Sending values \r\n");
    msg[0] = START;
    msg[1] = 0;
    for (int i=0; i < numVars; i++) {
        if (i == 21) {
            //printf("On final loop \r\n");
        }
        if (paramList[i] != 0xff) {
            short s = (short)((i << 8) | paramList[i]);
            //printf("In sendValues, calculating parity of %x\r\n", s);
            if (parity(s)) {
                //printf("%x requires TRUE parity bit\r\n", s);
                msg[len] = (char)(i | 0x40);
                len += 1;
            } else {
                //printf("%x requires FALSE parity bit\r\n", s);
                msg[len] = (char)i;
                len += 1;
            }
            msg[len] = paramList[i];
            len += 1;
        }
    }
    msg[len] = END;
    len += 1;
    char* checksum = checkSum(msg, len);
    msg[len] = checksum[0];
    msg[len+1] = checksum[1];
    msg[len+2] = checksum[2];
    len += 3;
    for (int j = 0; j < len; j++) {
        //printf("Sending char %x \r\n", msg[j]);
        rn42.putc(msg[j]);
    }
    memcpy(lastCmd, msg, 50);
    free(checksum);
    return ;
}

//Sends readONly Parameters, with START/END and checksum
void BluetoothComm::sendReadOnlyValues()
{
    int msgLen = 2*numReadOnlyParams+escapesNeeded+7;
    char message[msgLen];
    message[0] = START;
    message[1] = 0;
    message[2] = READONLY_IND;
    int msgInd = 3;
    int escapes = 0;
    //printf("%d readonly parameters", numReadOnlyParams);
    for (int i = 0; i < numReadOnlyParams; i++) {
        if (i == escapeNeeded[escapes]) {
            //printf("Escape char. needed at index %d \r\n", i);
            //char conflict = (char)(readOnlyParams[i] & 0xff);
            char conflict = (char)(paramMap[indexMap[i+numVars]] & 0xff);
            //printf("%x possibly has a conflict in %x \r\n", readOnlyParams[i], conflict);
            escapes += 1;
            //message[msgInd+1] = (char) (readOnlyParams[i] >> 8);
            message[msgInd+1] = (char) (paramMap[indexMap[i+numVars]] >> 8);
            //printf("Set msgInd+1 to %x \r\n", message[msgInd+1]);
            if (conflict == (char) 0xfe) {
                message[msgInd] = 1;
                message[msgInd+2] = 0xfc;
            } else if (conflict == (char) 0xff) {
                message[msgInd] = 1;
                message[msgInd+2] = 0xfd;
            } else {
                message[msgInd] = 0;
                message[msgInd+2] = conflict;
            }
            msgInd += 3;
        } else {
      //      message[msgInd] = (char) (readOnlyParams[i] >> 8);
        //    message[msgInd+1] = (char) (readOnlyParams[i] & 0xff);
            message[msgInd] = (char) (paramMap[indexMap[i+numVars]] >> 8);
            message[msgInd+1] = (char) (paramMap[indexMap[i+numVars]] & 0xff);
            msgInd += 2;
        }
    }
    message[msgLen-4] = END;
    char* checksum = checkSum(message, msgLen-3);
    message[msgLen-3] = checksum[0];
    message[msgLen-2] = checksum[1];
    message[msgLen-1] = checksum[2];
    //printf("Sending the following readONly values: \r\n");
    for (int j=0; j < msgLen; j++) {
        //printf("%x \r\n", message[j]);
        rn42.putc(message[j]);
    }
    memcpy(lastCmd, message, 50);
    free(checksum);
    //printf("Finished sending readOnly values \r\n");

}

//Checks the message with length len. Checks for START and END in correct spots, parity, all data and variable byte in proper range, and correct checksum
bool BluetoothComm::msgCheck(char* message, int len)
{
    if (message[0] != START) {
        //printf("Improper START or END \r\n");
        sendError(START_ERR);
        return false;
    }
    if (message[len-4] != END) {
        sendError(END_ERR);
        return false;
    }
    bool write = message[2] & 0x80;
    for (int i=2; i < len-5; i+=2) {
        if (i == 2 && message[i] == READONLY_IND) {
            break;
        }
        if (i == (len-5) && message[i] == READONLY_IND) {
            break;
        }
        if (((message[i] & 0x80) !=0) && !write) {
            //printf("Does not match READ format \r\n");
            sendError((char)(((message[i] & 0x3f) << 3) | RW_ERR));
            return false;
        }
        if (((message[i] & 0x80) != 0x80) && write) {
            //printf("char %x Does not match WRITE format \r\n", message[i]);
            sendError((char)(((message[i] & 0x3f) << 3) | RW_ERR));
            return false;
        }
        short s;
        if (write) {
            s = (short) ((message[i] << 8) | message[i+1]);
        } else {
            s = (short) (message[i] << 8);
        }
        bool parity1 = (s & 0x4000) != 0;

        if (parity1 != parity(s & 0x4000)) {
            //printf("Parity error in VAR char \r\n");
            sendError((char) (((message[i] & 0xbf) << 3) | PARITY_ERR));
            return false;
        }

        char c = message[i] & 0x3f;
        char c2 = message[i+1];
        if ((int) c < 0 || (int) c > numVars) {
            //printf("VAR char out of range \r\n");
            sendError((char) (((message[i] & 0xbf) << 3) | VAR_ERR));
            return false;
        }
        if ((int) c2 < 0 || (int) c2 > 100) {
            //printf("DATA char out of range");
            sendError((char) (((message[i] & 0xbf) << 3) | DATA_ERR));
            return false;
        }
    }
    char* checksum = checkSum(message, len-3);
    if (checksum[0] != message[len-3]) {
        //printf("Checksum error in char 0, expected %x but got %x \r\n", checksum[0], message[len-3]);
        free(checksum);
        sendError(CHECKSUM_ERR);
        return false;
    }
    if (checksum[1] != message[len-2]) {
        //printf("Checksum error in char 1, expected %x but got %x \r\n", checksum[1], message[len-2]);
        free(checksum);
        sendError(CHECKSUM_ERR);
        return false;
    }
    if (checksum[2] != message[len-1]) {
        //printf("Checksum error in char 2, expected %x but got %x \r\n", checksum[2], message[len-1]);
        free(checksum);
        sendError(CHECKSUM_ERR);
        return false;
    }
    free(checksum);

    return true;
}

//Checks a received readOnly message
void BluetoothComm::processReadOnly(char* message, int len)
{
    //printf("Message is a ReadOnly \r\n");
    if (!msgCheck(message, len)) {
        //printf("MSGCHECK failed on read! \r\n");
        return;
    }
    failures = 0;

    //printf("Sending readOnly values \r\n");
    sendReadOnlyValues();
}

//Checks received READ message, and places requested data into an array
void BluetoothComm::processRead(char* message, int len)
{
    //If the received message is an error message, resend the last command
    if (message[2] == START) {
        failures += 1;
        if (failures < 5) {
            send(lastCmd);
        } else {
            failures = 0;
        }
        return;
    }
    if (!msgCheck(message, len)) {
        //printf("MSGCHECK failed on read! \r\n");
        return;
    }
    failures = 0;
    //printf("Message is a read \r\n");
    char paramList[numVars];
    memset(paramList, 0xff, numVars);

    for (int i=2; i < len-5; i++) {
        char msg = message[i] & 0xbf;
        if ((msg & 0x80) != 0) {
            //printf("Got a non-read char %x...exiting \r\n", msg);
            return;
        }

        int index = msg & 0xff;
        //printf("Value at index %d requested \r\n", index);
        paramList[index] = paramMap[indexMap[index]];

    }
    if (message[len-5] == READONLY_IND) {
        sendReadOnlyValues();
    }
    sendValues(paramList);
}

//Checks received WRITE message and writes to localValues
void BluetoothComm::processWrite(char* message, int len)
{
    if (message[2] == START) {
        failures += 1;
        if (failures < 5) {
            send(lastCmd);
        } else {
            failures = 0;
        }
        return;
    }
    if (!msgCheck(message, len)) {
        //printf("MSGCHECK failed on write! \r\n");
        return;
    }
    char paramList[numVars];
    memset(paramList, 0xff, numVars);
    //printf("Message is a write \r\n");
    for (int i=2; i < len-5; i+=2) {
        char msg = message[i] & 0xbf;
        if ((msg & 0x80) != 0x80) {
            return;
        }
        int index = msg & 0x7f;
        paramMap[indexMap[index]] = message[i+1];
        paramList[index] = message[i+1];
        //printf("Wrote %x to index %d of localValues \r\n", localValues[index], index);

    }
    sendValues(paramList);
    writeParamsToSDCard();
    //SD_Card.write(localValues)
    //sendToControlBed(localValues+1, len-2)
}

//Checks if received message is a read, write or readonly
void BluetoothComm::process (char* message, int len)
{
    char c = message[2];
    for (int i =0; i < len; i++) {
        printf("Message character: %x \r\n", message[i]);
    }
    if (c == READONLY_IND) {
        processReadOnly(message, len);
        return;
    }
    if ((c & 0x80) == 0) {
        processRead(message, len);
        return;
    } else {
        processWrite(message, len);
        return;
    }
}

//Warning: do not put print statements in the function attachment(); it will interfere with receiving messages
void BluetoothComm::attachment()
{
if (rn42.readable()) {
            //   //printf("rn42 is readable \r\n");
            data=rn42.getc();

            //    if (data != NULL) {
            char b = data & 0xff;
            //printf("Got char: %x \r\n", b);
            if (b != NULL or inMsg) {
         //       printf("Got char non null: %x \r\n", b);
            }
            //This marks the START of a message
            if (inMsg == false and b == START) {
            //    printf("Msg START received \r\n");
                inMsg = true;
                counter = 3;
                curMsg[len] = b;
                len += 1;
            } else if (inMsg == true and b == START) {
           //     printf("Second start received, terminating\r\n");
                inMsg = false;
                counter = 0;
                memset(curMsg, 0, 50);
                rn42.rxBufferFlush();
                process(msg, len);
                len = 0;
            } else if (inMsg || counter > 0 ) {
             //   printf("inMsg or counter > 0 \r\n");
                curMsg[len] = b;
                len += 1;
                if (!inMsg) {
                    counter -= 1;
                }
                //Marks end of message, and starts processing
                if (counter <= 0) {
           //         printf("End of message \r\n");
                    memset(msg, 0, 50);
                    memcpy(msg, curMsg, 50);
                    memset(curMsg, 0, 50);
                    rn42.rxBufferFlush();
                    process(msg, len);
                    len = 0;
                }
            }
            if (b == END) {
                inMsg = false;

                // rn42.putc(msg);
            }
            //     }
            //rn42.putc(data);
          
        }
}