Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
logging/logging.cpp
- Committer:
- shimniok
- Date:
- 2013-05-28
- Revision:
- 1:cb84b477886c
- Parent:
- 0:a6a169de725f
- Child:
- 2:fbc6e3cf3ed8
File content as of revision 1:cb84b477886c:
#include "logging.h" #include "SDHCFileSystem.h" #include "SerialGraphicLCD.h" #include "b64.h" extern Serial pc; extern SerialGraphicLCD lcd; 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->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; /* void logData( const SystemState s ) { unsigned char buf[512]; // for now we really only need ~256 bytes but in case I add more to state... unsigned char *state = (unsigned char *) &s; //unsigned int t1, t2, t3; //logtimer.start(); //logtimer.reset(); if (logp) { //t1 = logtimer.read_us(); encode(state, sizeof(s), buf, 0); // infinite line size //t2 = logtimer.read_us(); fputs((char *) buf, logp); fputs("\n", logp); bufCount--; fprintf(stdout, "bufCount: %d\n", bufCount); //t3 = logtimer.read_us(); //fprintf(stdout, "%d %d\n", t3-t2, t2-t1); } } */ // from Arduino source size_t printNumber(FILE *f, unsigned long n) { char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte. char *str = &buf[sizeof(buf) - 1]; *str = '\0'; do { unsigned long m = n; n /= 10; char c = m - 10 * n; *--str = c + '0'; } while(n); return fputs(str, f); } // from Arduino source size_t printInt(FILE *f, long n) { int t = 0; if (n < 0) { t = fputc('-', f); n = -n; } return printNumber(f, n) + t; } // from Arduino source size_t printFloat(FILE *f, double number, uint8_t digits) { size_t n=0; if (isnan(number)) return fputs("nan", f); if (isinf(number)) return fputs("inf", f); if (number > 4294967040.0) return fputs("ovf", f); // constant determined empirically if (number <-4294967040.0) return fputs("ovf", f); // constant determined empirically // Handle negative numbers if (number < 0.0) { n += fputc('-', f); number = -number; } // Round correctly so that print(1.999, 2) prints as "2.00" double rounding = 0.5; for (uint8_t i=0; i < digits; ++i) rounding /= 10.0; number += rounding; // Extract the integer part of the number and print it unsigned long int_part = (unsigned long)number; double remainder = number - (double)int_part; n += printInt(f, int_part); // Print the decimal point, but only if there are digits beyond if (digits > 0) { n += fputc('.', f); } // Extract digits from the remainder one at a time while (digits-- > 0) { remainder *= 10.0; int toPrint = int(remainder); n += fputc(toPrint+'0', f); remainder -= toPrint; } return n; } // 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 ) { //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++) { printInt(logp, s.g[q]); fputc(',',logp); } printInt(logp, s.gTemp); fputc(',',logp); 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); // 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); fputc('\n',logp); t2 = logtimer.read_us(); fprintf(stdout, "%d\n", t2-t1); return; } FILE *openlog(char *prefix) { FILE *fp = 0; char myname[64]; pc.printf("Opening file...\n"); while (fp == 0) { if ((fp = fopen("/log/test.txt", "w")) == 0) { pc.printf("Waiting for filesystem to come online..."); wait(0.200); lcd.pos(0,1); lcd.printf("%-16s", "Waiting for fs"); } } fclose(fp); for (int i = 0; i < 1000; i++) { sprintf(myname, "/log/%s%03d.csv", prefix, i); if ((fp = fopen(myname, "r")) == 0) { break; } else { fclose(fp); } } fp = fopen(myname, "w"); if (fp == 0) { pc.printf("file write failed: %s\n", myname); } else { // TODO -- set error message, get rid of writing to terminal //status = true; pc.printf("opened %s for writing\n", myname); lcd.pos(0,1); lcd.printf("%-16s", myname); } return fp; } // Find the next unused filename of the form logger##.csv where # is 0-9 // bool initLogfile() { bool status = false; logp = openlog("log"); if (logp != 0) { status = true; //fprintf(logp, "s.millis, s.current, s.voltage, s.gx, s.gy, s.gz, s.gTemp, s.ax, s.ay, s.az, s.mx, s.my, s.mz, s.gHeading, s.cHeading, s.roll, s.pitch, s.yaw, s.gpsLatitude, s.gpsLongitude, s.gpsCourse, s.gpsSpeed, s.gpsHDOP, s.lrEncDistance, s.rrEncDistance, s.lrEncSpeed, s.rrEncSpeed, s.encHeading, s.estHeading, s.estLatitude, s.estLongitude, s.estNorthing, s.estEasting, s.estX, s.estY, s.nextWaypoint, s.bearing, s.distance, s.gbias, s.errAngle, s.leftRanger, s.rightRanger, s.centerRanger, s.crossTrackErr\n"); } return status; } void closeLogfile(void) { if (logp) fclose(logp); }