Bradley Perry / dataComm

changed to be compatible with struct

Fork of dataComm_Brad by Bradley Perry

dataComm.cpp@4:86d9e33652b6, 2015-04-27 (annotated)

Committer:
mzling
Date:
Mon Apr 27 21:57:35 2015 +0000
Revision:
4:86d9e33652b6
Parent:
3:2091104c9b61
Child:
5:c95a0006ba68
added float-to-short conversion

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mzling 0:f0dc2775ec68 1 #include "mbed.h"
mzling 4:86d9e33652b6 2
mzling 0:f0dc2775ec68 3 #include "dataComm.h"
mzling 0:f0dc2775ec68 4 #include "initExoVars.h"
mzling 0:f0dc2775ec68 5 #include "gaitGenerator.h"
mzling 0:f0dc2775ec68 6 #include <string>
mzling 0:f0dc2775ec68 7 #include <map>
mzling 2:53547eb587fb 8
mzling 3:2091104c9b61 9 dataComm::dataComm(): _len(0), _counter(0), _inMsg(false), _numVars(32), _numReadOnlyParams(12), _escapesNeeded(8)
mzling 0:f0dc2775ec68 10 {
mzling 4:86d9e33652b6 11
mzling 4:86d9e33652b6 12 int temp1[] = {0,1,2,3,4,8,9,10,-1};
mzling 4:86d9e33652b6 13
mzling 0:f0dc2775ec68 14 for (int i = 0; i < _escapesNeeded+1; i++) {
mzling 0:f0dc2775ec68 15 _escapeNeeded[i] = temp1[i];
mzling 0:f0dc2775ec68 16 }
mzling 4:86d9e33652b6 17
mzling 4:86d9e33652b6 18
mzling 0:f0dc2775ec68 19 std::string temp2[] = {"KPStance", "KPSwing", "KPStanding", "KPSitting", "KPStandUp", "KPSitdown", "KDStance", "KDSwing",
mzling 0:f0dc2775ec68 20 "KDStanding", "KDSitting", "KDStandUp", "KDSitDown", "StandingAngle", "SittingAngle", "BentForwardAngle", "ForwardAngle", "RearAngle",
mzling 3:2091104c9b61 21 "IMUAngle", "KneeFullRetract", "KneeFullExtend", "LockTime", "Rate", "StandupAsst", "StandupTime", "SitdownAsst", "SitdownTime", "WalkAngle",
mzling 4:86d9e33652b6 22 "StepLength", "StepTime", "MaxAmplitude", "StanceStart", "StanceEnd",
mzling 0:f0dc2775ec68 23 "TorsoAng", "LKneeAng", "RKneeAng", "LHipAng", "RHipAng", "LHipTorque", "RHipTorque", "ExoAndKneeStates", "TorsoRefAngle", "LHipRefAngle",
mzling 0:f0dc2775ec68 24 "RHipRefAngle", "Charge"};
mzling 0:f0dc2775ec68 25 //Populate the map of indices to param names
mzling 0:f0dc2775ec68 26 for (int j = 0; j < (_numVars + _numReadOnlyParams); j += 1) {
mzling 0:f0dc2775ec68 27 _indexMap[j] = temp2[j];
mzling 0:f0dc2775ec68 28 }
mzling 4:86d9e33652b6 29
mzling 0:f0dc2775ec68 30 for (int j = 0; j < _numVars; j += 1) {
mzling 0:f0dc2775ec68 31 _paramMap[_indexMap[j]] = generic_get(_indexMap[j]);
mzling 0:f0dc2775ec68 32 }
mzling 4:86d9e33652b6 33
mzling 0:f0dc2775ec68 34 // pc.printf("Initialized PARAM \r\n");
mzling 0:f0dc2775ec68 35 int temp4[] = {0x01fe, 0x02ac, 0x02ff, 0x0180, 0x0012, 0x0010, 0x0020, 0x00bf, 0x023f, 0x0123, 0x03a2, 0x10};
mzling 4:86d9e33652b6 36
mzling 0:f0dc2775ec68 37 for (int k = 0; k < _numReadOnlyParams; k += 1) {
mzling 0:f0dc2775ec68 38 _paramMap[_indexMap[_numVars + k]] = temp4[k];
mzling 0:f0dc2775ec68 39 }
mzling 0:f0dc2775ec68 40 //pc.printf("Test: %x\r\n", _paramMap["TorsoAng"]);
mzling 0:f0dc2775ec68 41
mzling 0:f0dc2775ec68 42 }
mzling 0:f0dc2775ec68 43
mzling 2:53547eb587fb 44 /**
mzling 2:53547eb587fb 45 * Returns the stored value of the specified variable
mzling 2:53547eb587fb 46 * @param var The variable to be gotten (as a string).
mzling 2:53547eb587fb 47 * @author Michael Ling
mzling 2:53547eb587fb 48 * @date 3/31/2015
mzling 2:53547eb587fb 49 */
mzling 0:f0dc2775ec68 50 short dataComm::generic_get(std::string var)
mzling 0:f0dc2775ec68 51 {
mzling 4:86d9e33652b6 52 if (var.compare("SittingAngle") == 0) {
mzling 2:53547eb587fb 53 return (short)((sittingAngle-MIN_SIT)/(MAX_SIT-MIN_SIT)*100);
mzling 4:86d9e33652b6 54 } else if(var.compare( "BentForwardAngle")==0) {
mzling 2:53547eb587fb 55 return (short)((bentAngle-MIN_BENT)/(MAX_BENT-MIN_BENT)*100);
mzling 4:86d9e33652b6 56 } else if (var.compare("StandupAsst")==0) {
mzling 2:53547eb587fb 57 return (short)((fsm.get_standup_asst()-MIN_SUASST)/(MAX_SUASST-MIN_SUASST)*100);
mzling 2:53547eb587fb 58 } else if (var.compare("SitdownAsst")==0) {
mzling 2:53547eb587fb 59 return (short)((fsm.get_sitdown_asst()-MIN_SDASST)/(MAX_SDASST-MIN_SDASST)*100);
mzling 4:86d9e33652b6 60 } else if (var.compare("SitdownTime")==0) {
mzling 2:53547eb587fb 61 return (short)((tSittingDown-MIN_SDTIME)/(MAX_SDTIME-MIN_SDTIME)*100);
mzling 4:86d9e33652b6 62 } else if (var.compare( "StandingAngle")==0) {
mzling 2:53547eb587fb 63 return (short)((stand_adjust-MIN_STAND)/(MAX_STAND-MIN_STAND)*100);
mzling 4:86d9e33652b6 64 } else if (var.compare("WalkAngle")==0) {
mzling 2:53547eb587fb 65 return (short)((fsm.get_backbias()-MIN_WALK)/(MAX_WALK-MIN_WALK)*100);
mzling 4:86d9e33652b6 66 } else if (var.compare("StepTime")==0) {
mzling 4:86d9e33652b6 67 return (short) step_time;
mzling 2:53547eb587fb 68 }
mzling 2:53547eb587fb 69 return 0;
mzling 4:86d9e33652b6 70
mzling 0:f0dc2775ec68 71 }
mzling 0:f0dc2775ec68 72
mzling 2:53547eb587fb 73 /**
mzling 2:53547eb587fb 74 * Sets a new value for the given variable
mzling 2:53547eb587fb 75 * @param var The variable to be set, as a string
mzling 2:53547eb587fb 76 * @param newval New value for the variable
mzling 2:53547eb587fb 77 * @author Michael Ling
mzling 2:53547eb587fb 78 * @date 3/31/2015
mzling 2:53547eb587fb 79 */
mzling 0:f0dc2775ec68 80 void dataComm::generic_set(std::string var, short newval)
mzling 0:f0dc2775ec68 81 {
mzling 4:86d9e33652b6 82 mbedLED3 = 1;
mzling 4:86d9e33652b6 83 //pc.printf("%s\r\n", var);
mzling 4:86d9e33652b6 84 //newval is a short from 0-100, and needs to be converted a more
mzling 4:86d9e33652b6 85 if (var.compare( "SittingAngle")==0) {
mzling 4:86d9e33652b6 86 sittingAngle = MIN_SIT + (float)newval/100*(MAX_SIT-MIN_SIT);
mzling 4:86d9e33652b6 87 // pc.printf("%d\r\n", (short)((sittingAngle-70)/40*100));
mzling 4:86d9e33652b6 88 } else if (var.compare( "BentForwardAngle")==0) {
mzling 4:86d9e33652b6 89 bentAngle = MIN_BENT+(float)newval/100*(MAX_BENT-MIN_BENT);
mzling 4:86d9e33652b6 90 // pc.printf("%d\r\n", (short)((bentAngle-90)/50*100));
mzling 4:86d9e33652b6 91 } else if (var.compare("StandupAsst")==0) {
mzling 4:86d9e33652b6 92 fsm.set_standup_asst(MIN_SUASST+(float)newval/100*(MAX_SUASST-MIN_SUASST));
mzling 4:86d9e33652b6 93 // pc.printf("%d\r\n", (short)fsm.get_standup_asst());
mzling 4:86d9e33652b6 94 } else if (var.compare("SitdownAsst")==0) {
mzling 4:86d9e33652b6 95 fsm.set_sitdown_asst(MIN_SDASST+(float)newval/100*(MAX_SDASST-MIN_SDASST));
mzling 4:86d9e33652b6 96 // pc.printf("%d\r\n", (short)fsm.get_sitdown_asst());
mzling 4:86d9e33652b6 97 } else if (var.compare("SitdownTime")==0) {
mzling 4:86d9e33652b6 98 tSittingDown = MIN_SDTIME + (float)newval/100*(MAX_SDTIME-MIN_SDTIME);
mzling 4:86d9e33652b6 99 // pc.printf("%d\r\n", (short)tSittingDown);
mzling 4:86d9e33652b6 100 } else if (var.compare("StandingAngle")==0) {
mzling 4:86d9e33652b6 101 pc.printf("LED\r\n");
mzling 4:86d9e33652b6 102 motorLED = 1;
mzling 4:86d9e33652b6 103 stand_adjust = MIN_STAND + float(newval)/100*(MAX_STAND-MIN_STAND);
mzling 4:86d9e33652b6 104 encoder_L.init(zero_ang_L+stand_adjust);
mzling 4:86d9e33652b6 105 encoder_R.init(zero_ang_R+stand_adjust);
mzling 4:86d9e33652b6 106 //pc.printf("%d\r\n", (short)((stand_adjust+15)/30*100));
mzling 4:86d9e33652b6 107 } else if (var.compare("WalkAngle")==0) {
mzling 4:86d9e33652b6 108 fsm.set_backbias(MIN_WALK+(float)newval/100*(MAX_WALK-MIN_WALK));
mzling 4:86d9e33652b6 109 // pc.printf("%d\r\n", (short)fsm.get_backbias());
mzling 4:86d9e33652b6 110 } else if (var.compare("StepTime")==0) {
mzling 4:86d9e33652b6 111 step_time = (float)newval;
mzling 4:86d9e33652b6 112 }
mzling 4:86d9e33652b6 113 //MORE else blocks for gait params
mzling 4:86d9e33652b6 114
mzling 0:f0dc2775ec68 115 }
mzling 0:f0dc2775ec68 116 /**
mzling 0:f0dc2775ec68 117 * Calculates parity--0 if c even, 1 if odd
mzling 0:f0dc2775ec68 118 * @param c The short that we want to calculate parity of
mzling 0:f0dc2775ec68 119 * @author Michael Ling
mzling 0:f0dc2775ec68 120 * @date 2/4/2015
mzling 0:f0dc2775ec68 121 */
mzling 0:f0dc2775ec68 122 bool dataComm::parity(short c)
mzling 0:f0dc2775ec68 123 {
mzling 0:f0dc2775ec68 124 bool p = false;
mzling 0:f0dc2775ec68 125 while (c != 0) {
mzling 0:f0dc2775ec68 126 p = !p;
mzling 0:f0dc2775ec68 127 c = (short) (c & (c-1));
mzling 0:f0dc2775ec68 128 }
mzling 0:f0dc2775ec68 129 return p;
mzling 0:f0dc2775ec68 130 }
mzling 0:f0dc2775ec68 131
mzling 0:f0dc2775ec68 132 /**
mzling 0:f0dc2775ec68 133 * Calculates checksum of char array, sum of all chars in array
mzling 0:f0dc2775ec68 134 * @param b The char array to be summed up
mzling 0:f0dc2775ec68 135 * @param len Length of the array b
mzling 0:f0dc2775ec68 136 * @author Michael Ling
mzling 0:f0dc2775ec68 137 * @date 2/4/2015
mzling 0:f0dc2775ec68 138 */
mzling 0:f0dc2775ec68 139 char* dataComm::get_checksum(char* b, int len)
mzling 0:f0dc2775ec68 140 {
mzling 0:f0dc2775ec68 141 char* checksum = (char*)malloc(3*sizeof(char));
mzling 0:f0dc2775ec68 142 short sum = 0;
mzling 0:f0dc2775ec68 143 for (int i = 0; i < len; i += 1) {
mzling 0:f0dc2775ec68 144 sum += ((short) b[i] & 0xff);
mzling 0:f0dc2775ec68 145 }
mzling 0:f0dc2775ec68 146 checksum[1] = (char) ((sum >> 8) & 0xff);
mzling 0:f0dc2775ec68 147 checksum[2] = (char) (sum & 0xff);
mzling 0:f0dc2775ec68 148 char check = (char) (sum & 0xff);
mzling 0:f0dc2775ec68 149 //Sets escape character if the checksum contains START or END
mzling 0:f0dc2775ec68 150 if (check == START || check == END) {
mzling 0:f0dc2775ec68 151 checksum[0] = 1;
mzling 0:f0dc2775ec68 152 checksum[2] = (char) (checksum[2] & 0x1);
mzling 0:f0dc2775ec68 153 } else {
mzling 0:f0dc2775ec68 154 checksum[0] = 0;
mzling 0:f0dc2775ec68 155 }
mzling 0:f0dc2775ec68 156 return checksum;
mzling 0:f0dc2775ec68 157 }
mzling 0:f0dc2775ec68 158
mzling 0:f0dc2775ec68 159
mzling 0:f0dc2775ec68 160
mzling 0:f0dc2775ec68 161 /**
mzling 0:f0dc2775ec68 162 * 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
mzling 0:f0dc2775ec68 163 * @param message The received message to check
mzling 0:f0dc2775ec68 164 * @param len Length of the message
mzling 0:f0dc2775ec68 165 * @author Michael Ling
mzling 0:f0dc2775ec68 166 * @date 2/4/2015
mzling 0:f0dc2775ec68 167 */
mzling 0:f0dc2775ec68 168 bool dataComm::msg_check(char* message, int len)
mzling 0:f0dc2775ec68 169 {
mzling 2:53547eb587fb 170 //Checks the message starts with 0xff
mzling 0:f0dc2775ec68 171 if (message[0] != START) {
mzling 0:f0dc2775ec68 172 //printf("Improper START or END \r\n");
mzling 4:86d9e33652b6 173
mzling 0:f0dc2775ec68 174 return false;
mzling 0:f0dc2775ec68 175 }
mzling 0:f0dc2775ec68 176 //printf("got a start\r\n");
mzling 2:53547eb587fb 177 //Unlike on databed, the message is not guaranteed to be exactly LEN long, hence we're allowed to backtrack looking for END
mzling 0:f0dc2775ec68 178 while (message[len-4] != END && len >= 6) {
mzling 0:f0dc2775ec68 179 len -= 1;
mzling 0:f0dc2775ec68 180 }
mzling 0:f0dc2775ec68 181 if (message[len-4] != END) {
mzling 0:f0dc2775ec68 182 //send_error(END_ERR);
mzling 0:f0dc2775ec68 183 return false;
mzling 0:f0dc2775ec68 184 }
mzling 0:f0dc2775ec68 185 bool write = message[2] & 0x80;
mzling 0:f0dc2775ec68 186 for (int i=2; i < len-5; i+=2) {
mzling 0:f0dc2775ec68 187 if (i == 2 && message[i] == READONLY_IND) {
mzling 0:f0dc2775ec68 188 break;
mzling 0:f0dc2775ec68 189 }
mzling 0:f0dc2775ec68 190 if (i == (len-5) && message[i] == READONLY_IND) {
mzling 0:f0dc2775ec68 191 break;
mzling 0:f0dc2775ec68 192 }
mzling 0:f0dc2775ec68 193 if (((message[i] & 0x80) !=0) && !write) {
mzling 0:f0dc2775ec68 194 //printf("Does not match READ format \r\n");
mzling 0:f0dc2775ec68 195 return false;
mzling 0:f0dc2775ec68 196 }
mzling 0:f0dc2775ec68 197 if (((message[i] & 0x80) != 0x80) && write) {
mzling 0:f0dc2775ec68 198 //printf("char %x Does not match WRITE format \r\n", message[i]);
mzling 0:f0dc2775ec68 199 return false;
mzling 0:f0dc2775ec68 200 }
mzling 0:f0dc2775ec68 201 short s;
mzling 0:f0dc2775ec68 202 if (write) {
mzling 0:f0dc2775ec68 203 s = (short) ((message[i] << 8) | message[i+1]);
mzling 0:f0dc2775ec68 204 } else {
mzling 0:f0dc2775ec68 205 s = (short) (message[i] << 8);
mzling 0:f0dc2775ec68 206 }
mzling 2:53547eb587fb 207 //Checks the parity bit of the var/data pair.
mzling 0:f0dc2775ec68 208 bool parity1 = (s & 0x4000) != 0;
mzling 0:f0dc2775ec68 209
mzling 0:f0dc2775ec68 210 if (parity1 != parity(s & 0x4000)) {
mzling 0:f0dc2775ec68 211 //printf("Parity error in VAR char \r\n");
mzling 0:f0dc2775ec68 212 return false;
mzling 0:f0dc2775ec68 213 }
mzling 0:f0dc2775ec68 214
mzling 0:f0dc2775ec68 215 char c = message[i] & 0x3f;
mzling 0:f0dc2775ec68 216 char c2 = message[i+1];
mzling 2:53547eb587fb 217 //Makes sure the var is a valid one
mzling 0:f0dc2775ec68 218 if ((int) c < 0 || (int) c > _numVars) {
mzling 0:f0dc2775ec68 219 //printf("VAR char out of range \r\n");
mzling 0:f0dc2775ec68 220 return false;
mzling 0:f0dc2775ec68 221 }
mzling 2:53547eb587fb 222 //Makes sure the new value is in the range 0-100
mzling 0:f0dc2775ec68 223 if ((int) c2 < 0 || (int) c2 > 100) {
mzling 0:f0dc2775ec68 224 //printf("DATA char out of range");
mzling 0:f0dc2775ec68 225 return false;
mzling 0:f0dc2775ec68 226 }
mzling 0:f0dc2775ec68 227 }
mzling 0:f0dc2775ec68 228 char* checksum = get_checksum(message, len-3);
mzling 0:f0dc2775ec68 229 if (checksum[0] != message[len-3]) {
mzling 0:f0dc2775ec68 230 //printf("checksum error in char 0, expected %x but got %x \r\n", checksum[0], message[len-3]);
mzling 0:f0dc2775ec68 231 free(checksum);
mzling 0:f0dc2775ec68 232 return false;
mzling 0:f0dc2775ec68 233 }
mzling 0:f0dc2775ec68 234 if (checksum[1] != message[len-2]) {
mzling 0:f0dc2775ec68 235 //printf("Checksum error in char 1, expected %x but got %x \r\n", checksum[1], message[len-2]);
mzling 0:f0dc2775ec68 236 free(checksum);
mzling 0:f0dc2775ec68 237 return false;
mzling 0:f0dc2775ec68 238 }
mzling 0:f0dc2775ec68 239 if (checksum[2] != message[len-1]) {
mzling 0:f0dc2775ec68 240 //printf("Checksum error in char 2, expected %x but got %x \r\n", checksum[2], message[len-1]);
mzling 0:f0dc2775ec68 241 free(checksum);
mzling 0:f0dc2775ec68 242 return false;
mzling 0:f0dc2775ec68 243 }
mzling 0:f0dc2775ec68 244 free(checksum);
mzling 0:f0dc2775ec68 245
mzling 0:f0dc2775ec68 246 return true;
mzling 0:f0dc2775ec68 247 }
mzling 0:f0dc2775ec68 248
mzling 0:f0dc2775ec68 249
mzling 0:f0dc2775ec68 250
mzling 0:f0dc2775ec68 251 /**
mzling 0:f0dc2775ec68 252 * Checks received WRITE message and writes to paramMap/SDCard
mzling 0:f0dc2775ec68 253 * @param message The received WRITE message
mzling 0:f0dc2775ec68 254 * @param len Length of the WRITE message
mzling 0:f0dc2775ec68 255 * @author Michael Ling
mzling 0:f0dc2775ec68 256 * @date 2/4/2015
mzling 0:f0dc2775ec68 257 */
mzling 0:f0dc2775ec68 258 void dataComm::process_write(short int* msg, int len)
mzling 0:f0dc2775ec68 259 {
mzling 2:53547eb587fb 260
mzling 0:f0dc2775ec68 261 if (msg[0] == 0) {
mzling 0:f0dc2775ec68 262 return;
mzling 0:f0dc2775ec68 263 }
mzling 4:86d9e33652b6 264 //dataIn is formatted so that a direct cast to char* will reproduce the original message from the phone.
mzling 4:86d9e33652b6 265 char *message = (char*) msg;
mzling 0:f0dc2775ec68 266
mzling 0:f0dc2775ec68 267
mzling 0:f0dc2775ec68 268 if (!msg_check(message, len*2)) {
mzling 0:f0dc2775ec68 269 return;
mzling 0:f0dc2775ec68 270 }
mzling 0:f0dc2775ec68 271 mbedLED2 = 1;
mzling 2:53547eb587fb 272 //If the msgCheck passes, we change the local paramMap and set variables to their new values
mzling 0:f0dc2775ec68 273 for (int i=2; i < len*2-5; i+=2) {
mzling 0:f0dc2775ec68 274 //printf("Loop %d\r\n", i);
mzling 0:f0dc2775ec68 275 if (message[i] == END) {
mzling 0:f0dc2775ec68 276 return;
mzling 0:f0dc2775ec68 277 }
mzling 0:f0dc2775ec68 278 char msgc = message[i] & 0xbf;
mzling 0:f0dc2775ec68 279 if ((msgc & 0x80) != 0x80) {
mzling 0:f0dc2775ec68 280 return;
mzling 0:f0dc2775ec68 281 }
mzling 0:f0dc2775ec68 282 int index = msgc & 0x7f;
mzling 4:86d9e33652b6 283
mzling 0:f0dc2775ec68 284 _paramMap[_indexMap[index]] = message[i+1];
mzling 0:f0dc2775ec68 285 generic_set(_indexMap[index], message[i+1]);
mzling 4:86d9e33652b6 286
mzling 0:f0dc2775ec68 287 }
mzling 0:f0dc2775ec68 288 }