Diff: logging/logging.cpp

Revision:

15:01fb4916a5cd

Parent:

3:42f3821c4e54

Child:

23:a34af501ea89

--- a/logging/logging.cpp	Thu Nov 29 16:59:39 2018 +0000
+++ b/logging/logging.cpp	Thu Nov 29 17:11:34 2018 +0000
@@ -1,37 +1,16 @@
+#include "SystemState.h"
+#include "globals.h"
 #include "logging.h"
-#include "SDHCFileSystem.h"
+#include "SDFileSystem.h"
 #include "SerialGraphicLCD.h"
 
-extern Serial pc;
-extern SerialGraphicLCD lcd;
+// TODO 2 set up logging out of low priority interrupt handler
 
-SDFileSystem sd(p5, p6, p7, p8, "log"); // mosi, miso, sclk, cs
+//SDFileSystem sd(p5, p6, p7, p8, "log"); // mosi, miso, sclk, cs
 static FILE *logp;
 
-void clearState( SystemState *s )
-{
-    s->millis = 0;
-    s->current = s->voltage = 0.0;
-    s->g[0] = s->g[1] = s->g[2] = 0;
-    s->gyro[0] = s->gyro[1] = s->gyro[2] = 0;
-    s->gTemp = 0;
-    s->a[0] = s->a[1] = s->a[2] = 0;
-    s->m[0] = s->m[1] = s->m[2] = 0;
-    s->gHeading = s->cHeading = 0.0;
-    //s->roll = s->pitch = s->yaw =0.0;
-    s->gpsLatitude = s->gpsLongitude = s->gpsCourse_deg = s->gpsSpeed_mps = s->gpsHDOP = 0.0;
-    //s->gpsLatitude2 = s->gpsLongitude2 = s->gpsCourse_deg2 = s->gpsSpeed_mps2 = s->gpsHDOP2 = 0.0;
-    s->lrEncDistance = s->rrEncDistance = 0.0;
-    s->lrEncSpeed = s->rrEncSpeed = s->encHeading = 0.0;
-    s->estHeading = s->estLatitude = s->estLongitude = 0.0;
-    //s->estNorthing = s->estEasting =
-    s->estX = s->estY = 0.0;
-    s->nextWaypoint = 0;
-    s->bearing = s->distance = 0.0;
-}
-
 Timer logtimer;
-extern int bufCount;
+//extern int bufCount;
 
 /*
 void logData( const SystemState s ) {
@@ -130,97 +109,106 @@
 
 // If I use arduino style print routines, logging takes ~1000 / ~8000 usec
 // the big sprintf takes ~ 700-750 usec all by itself
-void logData( const SystemState s )
+void logData( SystemState *s )
 {
     //char buf[256];
-    unsigned int t1, t2;
-    logtimer.start();
-    logtimer.reset();
-    t1 = logtimer.read_us();
-    printInt(logp, s.millis);
-    fputc(',',logp);
-    printFloat(logp, s.current, 2);
-    fputc(',',logp);
-    printFloat(logp, s.voltage, 2);
-    fputc(',',logp);
-    for (int q=0; q < 3; q++) {
-        printFloat(logp, s.gyro[q], 6);
+    //unsigned int t1, t2;
+    //logtimer.start();
+    //logtimer.reset();
+    //t1 = logtimer.read_us();
+
+    if (s) {
+        printInt(logp, s->millis);
+        fputc(',',logp);
+        printFloat(logp, s->current, 2);
+        fputc(',',logp);
+        printFloat(logp, s->voltage, 2);
         fputc(',',logp);
-    }
-    printInt(logp, s.gTemp);
-    fputc(',',logp);
-    for (int q=0; q < 3; q++) {
-        printInt(logp, s.a[q]);
+        for (int q=0; q < 3; q++) {
+            printFloat(logp, s->gyro[q], 6);
+            fputc(',',logp);
+        }
+        printInt(logp, s->gTemp);
         fputc(',',logp);
-    }
-    /*
-    for (int q=0; q < 3; q++) {
-        printInt(logp, s.m[q]);
+        for (int q=0; q < 3; q++) {
+            printInt(logp, s->a[q]);
+            fputc(',',logp);
+        }
+        /*
+        for (int q=0; q < 3; q++) {
+            printInt(logp, s->m[q]);
+            fputc(',',logp);
+        }
+        */
+        printFloat(logp, s->gHeading, 2);
         fputc(',',logp);
-    }
-    */
-    printFloat(logp, s.gHeading, 2);
-    fputc(',',logp);
 
-    // GPS 1
-    fprintf(logp, "%.7f,%.7f,", s.gpsLatitude, s.gpsLongitude);
-    //printFloat(logp, s.gpsLatitude, 7);
-    //fputc(',',logp);
-    //printFloat(logp, s.gpsLongitude, 7);
-    //fputc(',',logp);
-    printFloat(logp, s.gpsCourse_deg, 2);
-    fputc(',',logp);
-    printFloat(logp, s.gpsSpeed_mps, 2);
-    fputc(',',logp);
-    printFloat(logp, s.gpsHDOP, 1);
-    fputc(',',logp);
-    printInt(logp, s.gpsSats);
-    fputc(',',logp);
-    // Encoders
-    printFloat(logp, s.lrEncDistance, 7);
-    fputc(',',logp);
-    printFloat(logp, s.rrEncDistance, 7);
-    fputc(',',logp);
-    printFloat(logp, s.lrEncSpeed, 2);
-    fputc(',',logp);
-    printFloat(logp, s.rrEncSpeed, 2);
-    fputc(',',logp);
-    printFloat(logp, s.encHeading, 2);
-    fputc(',',logp);
-    // Estimates
-    printFloat(logp, s.estHeading, 2);
-    fputc(',',logp);
-    printFloat(logp, s.estLagHeading, 2);
-    fputc(',',logp);
-    printFloat(logp, s.estLatitude,  7);
-    fputc(',',logp);
-    printFloat(logp, s.estLongitude, 7);
-    fputc(',',logp);
-    printFloat(logp, s.estX, 4);
-    fputc(',',logp);
-    printFloat(logp, s.estY, 4);
-    fputc(',',logp);
-    // Nav
-    printInt(logp, s.nextWaypoint);
-    fputc(',',logp);
-    printFloat(logp, s.bearing, 2);
-    fputc(',',logp);
-    printFloat(logp, s.distance, 3);
-    fputc(',',logp);
-    printFloat(logp, s.steerAngle, 3);
-    fputc(',',logp);
-    printFloat(logp, s.errHeading, 3);
-    fputc(',',logp);
-    fputc('\n',logp);
+        // GPS 1
+        fprintf(logp, "%.7f,%.7f,", s->gpsLatitude, s->gpsLongitude);
+        //printFloat(logp, s->gpsLatitude, 7);
+        //fputc(',',logp);
+        //printFloat(logp, s->gpsLongitude, 7);
+        //fputc(',',logp);
+        printFloat(logp, s->gpsCourse_deg, 2);
+        fputc(',',logp);
+        printFloat(logp, s->gpsSpeed_mps, 2);
+        fputc(',',logp);
+        printFloat(logp, s->gpsHDOP, 1);
+        fputc(',',logp);
+        printInt(logp, s->gpsSats);
+        fputc(',',logp);
+        // Encoders
+        printFloat(logp, s->lrEncDistance, 7);
+        fputc(',',logp);
+        printFloat(logp, s->rrEncDistance, 7);
+        fputc(',',logp);
+        printFloat(logp, s->lrEncSpeed, 2);
+        fputc(',',logp);
+        printFloat(logp, s->rrEncSpeed, 2);
+        fputc(',',logp);
+        printFloat(logp, s->encHeading, 2);
+        fputc(',',logp);
+        // Estimates
+        printFloat(logp, s->estHeading, 2);
+        fputc(',',logp);
+        printFloat(logp, s->estLagHeading, 2);
+        fputc(',',logp);
+        printFloat(logp, s->estLatitude,  7);
+        fputc(',',logp);
+        printFloat(logp, s->estLongitude, 7);
+        fputc(',',logp);
+        printFloat(logp, s->estX, 4);
+        fputc(',',logp);
+        printFloat(logp, s->estY, 4);
+        fputc(',',logp);
+        // Nav
+        printInt(logp, s->nextWaypoint);
+        fputc(',',logp);
+        printFloat(logp, s->bearing, 2);
+        fputc(',',logp);
+        printFloat(logp, s->distance, 3);
+        fputc(',',logp);
+        printFloat(logp, s->steerAngle, 3);
+        fputc(',',logp);
+        printFloat(logp, s->errHeading, 3);
+        fputc(',',logp);
+        printFloat(logp, s->LABrg, 2);
+        fputc(',',logp);
+        printFloat(logp, s->LAx, 4);
+        fputc(',',logp);
+        printFloat(logp, s->LAy, 4);
+        fputc('\n',logp);
+        fflush(logp);
 
-    t2 = logtimer.read_us();
-    //fprintf(stdout, "%d\n", t2-t1);
+        //t2 = logtimer.read_us();
+        //fprintf(stdout, "%d\n", t2-t1);
+    }
 
     return;
 }
 
 
-FILE *openlog(char *prefix)
+FILE *openlog(const char *prefix)
 {
     FILE *fp = 0;
     char myname[64];
@@ -228,7 +216,8 @@
     pc.printf("Opening file...\n");
 
     while (fp == 0) {
-        if ((fp = fopen("/log/test.txt", "w")) == 0) {
+        sprintf(myname, "%s/test.txt", LOGDIR);
+        if ((fp = fopen(myname, "w")) == 0) {
             pc.printf("Waiting for filesystem to come online...");
             wait(0.200);
             lcd.pos(0,1);
@@ -238,7 +227,7 @@
     fclose(fp);
 
     for (int i = 0; i < 1000; i++) {
-        sprintf(myname, "/log/%s%03d.csv", prefix, i);
+        sprintf(myname, "%s/%s%03d.csv", LOGDIR, prefix, i);
         if ((fp = fopen(myname, "r")) == 0) {
             break;
         } else {
@@ -250,7 +239,7 @@
         pc.printf("file write failed: %s\n", myname);
     } else {
 
-        // TODO -- set error message, get rid of writing to terminal
+        // TODO 3 set error message, get rid of writing to terminal
 
         //status = true;
         pc.printf("opened %s for writing\n", myname);
@@ -281,4 +270,4 @@
 void closeLogfile(void)
 {
     if (logp) fclose(logp);
-}
\ No newline at end of file
+}