Diff: Config/Config.cpp

Revision:

22:dc54ca6e6eec

Parent:

9:39c0ff43332b

--- a/Config/Config.cpp	Thu Nov 29 18:34:22 2018 +0000
+++ b/Config/Config.cpp	Thu Nov 29 19:45:49 2018 +0000
@@ -1,198 +0,0 @@
-#define MAXBUF 64
-
-#include "Config.h"
-#include "SDFileSystem.h"
-#include "GeoPosition.h"
-#include "globals.h"
-#include "util.h"
-
-// Identifiers for each of the parameters
-#define CURB            "curb"
-#define WAYPOINT        "wpt"
-#define GPS             "gps"
-#define GYRO            "gyro"
-#define MAGNETOMETER    "mag"
-#define ACCELEROMETER   "accel"
-#define DECLINATION     "decl"
-#define NAVIGATION      "nav"
-#define STEER           "steer"
-#define SPEED           "speed"
-#define VEHICLE         "veh"
-#define ENCODER         "enc"
-
-
-Config::Config():
-    loaded(false),
-    intercept(0),
-    waypointDist(0),
-    brakeDist(0),
-    wptCount(0),
-    escMin(1300),
-    escZero(1300),
-    escMax(1300),
-    topSpeed(0),
-    turnSpeed(0),
-    startSpeed(0),
-    minRadius(0),
-    speedKp(0),
-    speedKi(0),
-    speedKd(0),
-    steerZero(0),
-    steerScale(0),
-    curbThreshold(0),
-    curbGain(0),
-    gyroScale(0),
-    // Data Bus Original Settings
-    wheelbase(0.280),
-    track(0.290),
-    tireCirc(0.321537),
-    encStripes(32)
-{
-    for (int i=0; i < MAX_WPT; i++) {
-        wptTopSpeedAdj[i] = 0;
-        wptTurnSpeedAdj[i] = 0;
-    }
-    for (int i=0; i < 3; i++) {
-        magOffset[i] = 0;
-        magScale[i] = 0;
-    }
-}
-
-// load configuration from filesystem
-bool Config::load(const char *filename)
-{
-    FILE *fp;
-    char buf[MAXBUF];   // buffer to read in data
-    char tmp[MAXBUF];   // temp buffer
-    char *p;
-    double lat, lon;
-    float wTopSpeed, wTurnSpeed;
-    bool declFound = false;
-    bool confStatus = false;
-
-    pc.printf("opening config file...\n");
-    
-    fp = fopen(filename, "r");
-    if (fp == 0) {
-        pc.puts("Could not open ");
-        pc.puts(filename);
-        pc.puts(" \n");
-    } else {
-        wptCount = 0;
-        while (!feof(fp)) {
-            fgets(buf, MAXBUF-1, fp);
-            p = split(tmp, buf, MAXBUF, ',');               // split off the first field
-
-            if (!strcmp(tmp, CURB)) {
-
-                p = split(tmp, p, MAXBUF, ',');             // threshold distance for curb avoid
-                curbThreshold = cvstof(tmp);
-                p = split(tmp, p, MAXBUF, ',');             // steering gain for curb avoid
-                curbGain = cvstof(tmp);
-
-            } else if (!strcmp(tmp, WAYPOINT)) {
-
-                p = split(tmp, p, MAXBUF, ',');             // split off the latitude to tmp
-                lat = cvstof(tmp);
-                p = split(tmp, p, MAXBUF, ',');             // split off the longitude to tmp
-                lon = cvstof(tmp);
-                p = split(tmp, p, MAXBUF, ',');             // split off the waypoint top speed
-                wTopSpeed = cvstof(tmp);
-                p = split(tmp, p, MAXBUF, ',');             // split off the waypoint turn speed
-                wTurnSpeed = cvstof(tmp);
-                if (wptCount < MAXWPT) {
-                    wpt[wptCount].set(lat, lon);            // set position
-                    wptTopSpeedAdj[wptCount] = wTopSpeed;   // set top speed adjust
-                    wptTurnSpeedAdj[wptCount] = wTurnSpeed; // set turn speed adjust
-                    wptCount++;
-                }
-
-            } else if (!strcmp(tmp, NAVIGATION)) {
-
-                p = split(tmp, p, MAXBUF, ',');
-                intercept = (float) cvstof(tmp);        // intercept distance for steering algorithm
-                p = split(tmp, p, MAXBUF, ',');
-                waypointDist = (float) cvstof(tmp);         // distance before waypoint switch
-                p = split(tmp, p, MAXBUF, ',');
-                brakeDist = (float) cvstof(tmp);            // distance at which braking starts
-                p = split(tmp, p, MAXBUF, ',');
-                minRadius = (float) cvstof(tmp);            // minimum turning radius
-
-            } else if (!strcmp(tmp, STEER)) {
-
-                p = split(tmp, p, MAXBUF, ',');
-                steerZero = cvstof(tmp);                    // servo center setting
-                p = split(tmp, p, MAXBUF, ',');
-                steerScale = cvstof(tmp);                   // steering angle conversion factor
-
-            } else if (!strcmp(tmp, SPEED)) {
-
-                p = split(tmp, p, MAXBUF, ',');
-                escMin = cvstof(tmp);                       // minimum esc (brake) setting
-                p = split(tmp, p, MAXBUF, ',');
-                escZero = cvstof(tmp);                      // esc center/zero setting
-                p = split(tmp, p, MAXBUF, ',');
-                escMax = cvstof(tmp);                       // maximum esc setting
-                p = split(tmp, p, MAXBUF, ',');
-                topSpeed = cvstof(tmp);                     // desired top speed
-                p = split(tmp, p, MAXBUF, ',');
-                turnSpeed = cvstof(tmp);                    // speed to use when turning
-                p = split(tmp, p, MAXBUF, ',');
-                startSpeed = cvstof(tmp);                   // speed to use at start
-                p = split(tmp, p, MAXBUF, ',');
-                speedKp = cvstof(tmp);                      // speed PID: proportional gain
-                p = split(tmp, p, MAXBUF, ',');
-                speedKi = cvstof(tmp);                      // speed PID: integral gain
-                p = split(tmp, p, MAXBUF, ',');
-                speedKd = cvstof(tmp);                      // speed PID: derivative gain
-
-            } else if (!strcmp(tmp, VEHICLE)) {
-                p = split(tmp, p, MAXBUF, ',');
-                wheelbase = cvstof(tmp);                    // vehicle wheelbase (front to rear axle)
-                p = split(tmp, p, MAXBUF, ',');
-                track = cvstof(tmp);                        // vehicle track width (left to right)
-            } else if (!strcmp(tmp, ENCODER)) {
-                p = split(tmp, p, MAXBUF, ',');
-                tireCirc = cvstof(tmp);                     // tire circumference
-                p = split(tmp, p, MAXBUF, ',');
-                encStripes = atoi(tmp);                     // ticks per revolution
-            } else if (!strcmp(tmp, GYRO)) {
-                p = split(tmp, p, MAXBUF, ',');             // split off the declination to tmp
-                gyroScale = cvstof(tmp);            // gyro scaling factor to deg/sec
-            } else if (!strcmp(tmp, GPS)) {
-                p = split(tmp, p, MAXBUF, ',');
-                gpsValidSpeed = cvstof(tmp);
-            } //if-else
-            /* else if (!strcmp(tmp, DECLINATION)) {
-                p = split(tmp, p, MAXBUF, ',');     // split off the declination to tmp
-                declination = (float) cvstof(tmp);
-                declFound = true;
-            } else if (!strcmp(tmp, MAGNETOMETER)) {
-                for (int i=0; i < 3; i++) {
-                    p = split(tmp, p, MAXBUF, ',');
-                    magOffset[i] = (float) cvstof(tmp);
-                    pc.printf("magOffset[%d]: %.2f\n", i, magOffset[i]);
-                }
-                for (int i=0; i < 3; i++) {
-                    p = split(tmp, p, MAXBUF, ',');
-                    magScale[i] = (float) cvstof(tmp);
-                    pc.printf("magScale[%d]: %.2f\n", i, magScale[i]);
-                }
-            }
-            */
-        } // while
-
-        // Did we get the values we were looking for?
-        if (wptCount > 0 && declFound) {
-            confStatus = true;
-        }
-        
-    } // if fp
-    
-    if (fp != 0)
-        fclose(fp);
-
-    loaded = confStatus;
-
-    return confStatus;
-}
\ No newline at end of file