Diff: BluetoothComm.cpp

Revision:

3:14050370593a

Parent:

2:be605799793f

Child:

4:7e3bbf896e78

diff -r be605799793f -r 14050370593a BluetoothComm.cpp
--- a/BluetoothComm.cpp	Wed Dec 17 21:46:45 2014 +0000
+++ b/BluetoothComm.cpp	Fri Feb 06 20:45:47 2015 +0000
@@ -2,10 +2,9 @@
 #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. 
+//Variable indices for set_values: set_values 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
@@ -13,15 +12,15 @@
 //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)
+BluetoothComm::BluetoothComm(PinName tx, PinName rx): _rn42(tx, rx), _len(0), _counter(0), _inMsg(false), _numVars(22), _numReadOnlyParams(12), _escapesNeeded(8)
 {
-    rn42.baud(9600);
+    _rn42.baud(9600);
     printf("Started BTComm init \r\n");
-  //  rn42.baud(115200);
+  //  _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];
+    for (int i = 0; i < _escapesNeeded+1; i++) {
+        _escapeNeeded[i] = temp1[i];
     }
     
   
@@ -31,37 +30,65 @@
         "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];
+    for (int j = 0; j < (_numVars + _numReadOnlyParams); j += 1) {
+        _indexMap[j] = temp2[j];
     }
     
-   //Fill the parameter map with data from SD card
-   readDataFromSD();
-  
-   readParamsFromSD();
+ 
+    write_params_to_sd_card();
+    printf("Initialized PARAM \r\n");
+    //int temp4[] = {0x01fe, 0x02ac, 0x02ff, 0x0180, 0x0012, 0x0010, 0x0020, 0x00bf, 0x023f, 0x0123, 0x03a2, 0x10};
+    //readData.write(temp4, _numReadOnlyParams);
+    //for (int k = 0; k < _numReadOnlyParams; k += 1) {
+    //    _paramMap[_indexMap[_numVars + k]] = temp4[k];
+    //}
+    //printf("Test: %x\r\n", _paramMap["TorsoAng"]);
+    write_data_to_sd_card();
+    //printf("Initialized data\r\n");
+    //Fill the parameter map with data from SD card
+    read_data_from_sd();
+    //printf("Test: %x\r\n", _paramMap["TorsoAng"]);
+    read_params_from_sd();
  
 
 }
 
-//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 read-only data from SD card, and fills in the parameter map.
+* @author Michael Ling
+* @date 2/4/2015
+*/
+void BluetoothComm::read_data_from_sd()
+{
+    
+    int *arr = readData.read(_numReadOnlyParams, arr);
+    for (int i = 0; i < _numReadOnlyParams; i += 1) {
+        _paramMap[_indexMap[i + _numVars]] = arr[i];
+        //printf("Read: %x\r\n", arr[i]);
     }
+    //printf("Finished reading data\r\n");
 }
 
-//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];
+/**
+* Reads editable parameters from SD card, and fills in the parameter map
+* @author Michael Ling
+* @date 2/4/2015
+*/
+void BluetoothComm::read_params_from_sd()
+{
+    int *arr = param.read(_numVars, arr);
+    for (int i = 0; i < _numVars; i += 1) {
+        _paramMap[_indexMap[i]] = arr[i];
     }
+    //printf("Finished reading params\r\n");
 }   
 
-
-//Calculates parity--0 if c even, 1 if odd
+/**
+* Calculates parity--0 if c even, 1 if odd
+* @param c    The short that we want to calculate parity of
+* @author Michael Ling
+* @date 2/4/2015
+*/
 bool BluetoothComm::parity(short c)
 {
     bool p = false;
@@ -72,15 +99,20 @@
     return p;
 }
 
-//Calculates checksum of char array, sum of all chars in array
-char* BluetoothComm::checkSum(char* b, int len)
+/**
+* Calculates checksum of char array, sum of all chars in array
+* @param b    The char array to be summed up
+* @param len    Length of the array b
+* @author Michael Ling
+* @date 2/4/2015
+*/
+char* BluetoothComm::get_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);
@@ -94,74 +126,107 @@
     return checksum;
 }
 
-//Sends error message
-void BluetoothComm::sendError(char errCode)
+/**
+* Sends error message.
+* @param errCode    character representation of the failure-causing error
+* @author Michael Ling
+* @data 2/4/2015
+*/
+void BluetoothComm::send_error(char errCode)
 {
-    rn42.putc(START);
-    rn42.putc(errCode);
-    rn42.putc(END);
-    rn42.putc(0);
-    rn42.putc(0);
-    rn42.putc(0);
+    _rn42.putc(START);
+    _rn42.putc(errCode);
+    _rn42.putc(END);
+    _rn42.putc(0);
+    _rn42.putc(0);
+    _rn42.putc(0);
 }
+/**
+//Sets charge level. DEPRECATED
+void BluetoothComm::setCharge(short level) {
+   // _readOnlyParams[11] = level;
+   _paramMap["Charge"] = level;
+}
+*/
 
-//Sets charge level
-void BluetoothComm::setCharge(short level) {
-   // readOnlyParams[11] = level;
-   paramMap["Charge"] = level;
-}
-
-//Sends the speified char array
+/**
+* Sends the specified char array through the _rn42 Bluetooth connection.
+* @param cmd   The char array to be sent
+* @author Michael Ling
+* @date 2/4/2015
+*/
 void BluetoothComm::send(char *cmd)
 {
     for (int i = 0; i < 50; i++) {
-        rn42.putc(cmd[i]);
+        _rn42.putc(cmd[i]);
     }
 }
 
-//Sets the parameter map, based on the input map NEWVALUES
-void BluetoothComm::setValues(std::map<string, short> newValues) {
+/**
+* Sets the parameter map, based on the input map NEWVALUES
+* @param newValues    A map of strings to shorts to be copied to _paramMap
+* @author Michael Ling
+* @date 2/4/2015
+*/
+void BluetoothComm::set_values(std::map<string, short> newValues)
+{
 
     for (std::map<string, short>::iterator it = newValues.begin(); it != newValues.end(); ++it) {
-        paramMap[it->first] = it->second;
+        _paramMap[it->first] = it->second;
     }
 }
 
-//Writes the editable params. stored in paramMap to the SD card
-void BluetoothComm::writeParamsToSDCard() {
+/**
+* Writes the editable params. stored in _paramMap to the SD card
+* @author Michael Ling
+* @date 2/4/2015
+*/
+void BluetoothComm::write_params_to_sd_card()
+{
   
-    int paramValues[numVars];
-    for (int i = 0; i < numVars; i += 1) {
-        paramValues[i] = (int) paramMap[indexMap[i]];
+    int paramValues[_numVars];
+    for (int i = 0; i < _numVars; i += 1) {
+        paramValues[i] = (int) _paramMap[_indexMap[i]];
     }
-    param.write(paramValues, numVars);
+    param.write(_numVars, paramValues);
     
 }
 
-//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]];
+/**
+* Write the read-only values stored in _paramMap to the SD card
+* @author Michael Ling
+* @date 2/4/2015
+*/
+void BluetoothComm::write_data_to_sd_card()
+{
+    int dataValues[_numReadOnlyParams];
+    for (int i = 0; i < _numReadOnlyParams; i += 1) {
+        dataValues[i] = (int) _paramMap[_indexMap[i + _numVars]];
+    //    printf("Index %d of dataValues set to %x\r\n", i, dataValues[i]);
     }
-    param.write(dataValues, numReadOnlyParams);
+    readData.write(_numReadOnlyParams, dataValues);
 }
 
-//Sends the paramList with START/END, parity bits, and a checksum
-void BluetoothComm::sendValues(char* paramList)
+/**
+* Sends the paramList with START/END, parity bits, and a checksum
+* @param paramList    List of parameters to be sent over Bluetooth, represented as a char array
+* @author Michael Ling
+* @date 2/4/2015
+*/
+void BluetoothComm::send_values(char* paramList)
 {
-    char msg[2*numVars+6];
+    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++) {
+    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);
+            //printf("In send_values, calculating parity of %x\r\n", s);
             if (parity(s)) {
                 //printf("%x requires TRUE parity bit\r\n", s);
                 msg[len] = (char)(i | 0x40);
@@ -177,40 +242,44 @@
     }
     msg[len] = END;
     len += 1;
-    char* checksum = checkSum(msg, len);
+    char* checksum = get_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]);
+        _rn42.putc(msg[j]);
     }
-    memcpy(lastCmd, msg, 50);
+    memcpy(_lastCmd, msg, 50);
     free(checksum);
     return ;
 }
 
-//Sends readONly Parameters, with START/END and checksum
-void BluetoothComm::sendReadOnlyValues()
+/**
+* Sends readOnly Parameters, with START/END and checksum
+* @author Michael Ling
+* @date 2/4/2015
+*/
+void BluetoothComm::send_read_only_values()
 {
-    int msgLen = 2*numReadOnlyParams+escapesNeeded+7;
+    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("%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);
+            //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);
+            //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;
@@ -224,39 +293,45 @@
             }
             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);
+      //      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);
+    char* checksum = get_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]);
+        printf("%x \r\n", message[j]);
+        _rn42.putc(message[j]);
     }
-    memcpy(lastCmd, message, 50);
+    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)
+/**
+* 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
+* @param message    The received message to check
+* @param len    Length of the message
+* @author Michael Ling
+* @date 2/4/2015
+*/
+bool BluetoothComm::msg_check(char* message, int len)
 {
     if (message[0] != START) {
         //printf("Improper START or END \r\n");
-        sendError(START_ERR);
+        send_error(START_ERR);
         return false;
     }
     if (message[len-4] != END) {
-        sendError(END_ERR);
+        send_error(END_ERR);
         return false;
     }
     bool write = message[2] & 0x80;
@@ -269,12 +344,12 @@
         }
         if (((message[i] & 0x80) !=0) && !write) {
             //printf("Does not match READ format \r\n");
-            sendError((char)(((message[i] & 0x3f) << 3) | RW_ERR));
+            send_error((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));
+            send_error((char)(((message[i] & 0x3f) << 3) | RW_ERR));
             return false;
         }
         short s;
@@ -287,40 +362,40 @@
 
         if (parity1 != parity(s & 0x4000)) {
             //printf("Parity error in VAR char \r\n");
-            sendError((char) (((message[i] & 0xbf) << 3) | PARITY_ERR));
+            send_error((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) {
+        if ((int) c < 0 || (int) c > _numVars) {
             //printf("VAR char out of range \r\n");
-            sendError((char) (((message[i] & 0xbf) << 3) | VAR_ERR));
+            send_error((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));
+            send_error((char) (((message[i] & 0xbf) << 3) | DATA_ERR));
             return false;
         }
     }
-    char* checksum = checkSum(message, len-3);
+    char* checksum = get_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]);
+        //printf("checksum error in char 0, expected %x but got %x \r\n", checksum[0], message[len-3]);
         free(checksum);
-        sendError(CHECKSUM_ERR);
+        send_error(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);
+        send_error(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);
+        send_error(CHECKSUM_ERR);
         return false;
     }
     free(checksum);
@@ -328,41 +403,54 @@
     return true;
 }
 
-//Checks a received readOnly message
-void BluetoothComm::processReadOnly(char* message, int len)
+/**
+* Checks a received readOnly message
+* @param message    The readonly message received
+* @param len    Length of the message
+* @author Michael Ling
+* @date 2/4/2015
+*/
+void BluetoothComm::process_read_only(char* message, int len)
 {
     //printf("Message is a ReadOnly \r\n");
-    if (!msgCheck(message, len)) {
-        //printf("MSGCHECK failed on read! \r\n");
+    if (!msg_check(message, len)) {
+        //printf("msg_check failed on read! \r\n");
         return;
     }
-    failures = 0;
+    _failures = 0;
 
     //printf("Sending readOnly values \r\n");
-    sendReadOnlyValues();
+    send_read_only_values();
 }
 
-//Checks received READ message, and places requested data into an array
-void BluetoothComm::processRead(char* message, int len)
+/**
+* Checks received READ message, and places requested data into an array
+* @param message    The received READ request as a char array
+* @param len    Length of the READ message
+* @author Michael Ling
+* @date 2/4/2015
+*/
+void BluetoothComm::process_read(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);
+    if (message[2] == END) {
+        _failures += 1;
+        //printf("_failures: %d\r\n", _failures);
+        if (_failures < 5) {
+            send(_lastCmd);
         } else {
-            failures = 0;
+            _failures = 0;
         }
         return;
     }
-    if (!msgCheck(message, len)) {
-        //printf("MSGCHECK failed on read! \r\n");
+    if (!msg_check(message, len)) {
+        //printf("msg_check failed on read! \r\n");
         return;
     }
-    failures = 0;
+    _failures = 0;
     //printf("Message is a read \r\n");
-    char paramList[numVars];
-    memset(paramList, 0xff, numVars);
+    char paramList[_numVars];
+    memset(paramList, 0xff, _numVars);
 
     for (int i=2; i < len-5; i++) {
         char msg = message[i] & 0xbf;
@@ -373,33 +461,39 @@
 
         int index = msg & 0xff;
         //printf("Value at index %d requested \r\n", index);
-        paramList[index] = paramMap[indexMap[index]];
+        paramList[index] = _paramMap[_indexMap[index]];
 
     }
     if (message[len-5] == READONLY_IND) {
-        sendReadOnlyValues();
+        send_read_only_values();
     }
-    sendValues(paramList);
+    send_values(paramList);
 }
 
-//Checks received WRITE message and writes to localValues
-void BluetoothComm::processWrite(char* message, int len)
+/**
+* Checks received WRITE message and writes to paramMap/SDCard
+* @param message    The received WRITE message
+* @param len    Length of the WRITE message
+* @author Michael Ling
+* @date 2/4/2015
+*/
+void BluetoothComm::process_write(char* message, int len)
 {
-    if (message[2] == START) {
-        failures += 1;
-        if (failures < 5) {
-            send(lastCmd);
+    if (message[2] == END) {
+        _failures += 1;
+        if (_failures < 5) {
+            send(_lastCmd);
         } else {
-            failures = 0;
+            _failures = 0;
         }
         return;
     }
-    if (!msgCheck(message, len)) {
-        //printf("MSGCHECK failed on write! \r\n");
+    if (!msg_check(message, len)) {
+        //printf("msg_check failed on write! \r\n");
         return;
     }
-    char paramList[numVars];
-    memset(paramList, 0xff, numVars);
+    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;
@@ -407,93 +501,100 @@
             return;
         }
         int index = msg & 0x7f;
-        paramMap[indexMap[index]] = message[i+1];
+        _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();
+    send_values(paramList);
+    write_params_to_sd_card();
     //SD_Card.write(localValues)
     //sendToControlBed(localValues+1, len-2)
 }
 
-//Checks if received message is a read, write or readonly
+/** 
+* Checks if received message is a read, write or readonly
+* @param message    The received message
+* @param len    Length of the message
+* @author Michael Ling
+* @date 2/4/2015
+*/
 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]);
-    }
+    //for (int i =0; i < len; i++) {
+    //    printf("Message character: %x \r\n", message[i]);
+    //}
     if (c == READONLY_IND) {
-        processReadOnly(message, len);
+        process_read_only(message, len);
         return;
     }
     if ((c & 0x80) == 0) {
-        processRead(message, len);
+        process_read(message, len);
         return;
     } else {
-        processWrite(message, len);
+        process_write(message, len);
         return;
     }
 }
 
 //Warning: do not put print statements in the function attachment(); it will interfere with receiving messages
+/**
+* Scans for data received through Bluetooth, and passes it on if it detects a message-like chunk. Should be run via an interuupt.
+* @author Michael Ling
+* @date 2/4/2015
+*/
 void BluetoothComm::attachment()
 {
-if (rn42.readable()) {
-            //   //printf("rn42 is readable \r\n");
-            data=rn42.getc();
+    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);
+        //    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;
             }
-            //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;
-                }
+            //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;
+        }
+        if (b == END) {
+            _inMsg = false;
 
-                // rn42.putc(msg);
-            }
-            //     }
-            //rn42.putc(data);
+            // _rn42.putc(msg);
+        }
+        //_rn42.putc(_data);
           
-        }
+    }
 }
-
-
-