205 lines
7.1 KiB
C++
205 lines
7.1 KiB
C++
/*
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* Title: ArduinoDeviceHandler.cpp
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* Author: Marco Modè
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* Last version: 24/09/2021
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* Project: ESBO-DS
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*-------------------------------------------------------------------------------------------------------------------
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*
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*/
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#include <mission/DeviceHandler/ArduinoDeviceHandler.h>
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ArduinoDH::ArduinoDH(object_id_t objectId, object_id_t comIF, CookieIF *cookie) :
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DeviceHandlerBase(objectId, comIF, cookie),
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TempValueVec(datapool::Temperature_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE),
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TempTimeVec(datapool::Temperature_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE) {
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mode = _MODE_START_UP;
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}
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ArduinoDH::~ArduinoDH() {
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}
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void ArduinoDH::doStartUp() {
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std::cout << "Arduino device -> Switching-ON" << std::endl;
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setMode(_MODE_TO_ON);
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return;
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}
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void ArduinoDH::doShutDown() {
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std::cout << "Arduino device -> Switching-OFF" << std::endl;
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setMode(_MODE_SHUT_DOWN);
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return;
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}
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ReturnValue_t ArduinoDH::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t ArduinoDH::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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return NOTHING_TO_SEND;
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}
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void ArduinoDH::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
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if (mode == _MODE_TO_NORMAL) {
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setMode(_MODE_TO_NORMAL);
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std::cout << "Arduino device is in Normal mode" << std::endl;
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} else {
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setMode(_MODE_TO_NORMAL);
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}
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}
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ReturnValue_t ArduinoDH::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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return HasActionsIF::EXECUTION_FINISHED;
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}
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void ArduinoDH::fillCommandAndReplyMap() {
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}
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ReturnValue_t ArduinoDH::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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/* In this case the data are sent from the Arduino board without any command.
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* No replies of data received are required.
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* This function checks the validity of the data packet received.
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*/
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*foundLen = len;
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// The ID is defined as a macro. It includes info about the array size.
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std::map<DeviceCommandId_t, size_t> id { { *foundId, len } };
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/* Check validity of the packet in terms of length (the data have
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* been already checked in ArduinoComIF.cpp in order to provide the
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* start of the data buffer.
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*/
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if (*foundLen == 7740) {
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return APERIODIC_REPLY;
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} else {
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return DeviceHandlerIF::LENGTH_MISSMATCH;
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}
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}
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ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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/* The data stored in the read buffer are here copied in the variables with the SPC format.
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* (The structures are defined in the header)
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* The data of temperature, environment and orientation are then stored in three separated vectors.
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* These vectors will be then saved in the framework datapool in order to be used by the controller.
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*/
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printf(
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"\n***********************************************************************************************\n");
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printf("TEMPERATURE parameters are: ");
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for (int i = 0; i < 36; i++) {
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memcpy(&Temp_ch.start_string, &packet[27 * i + 0], 8);
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memcpy(&Temp_ch.Typ, &packet[27 * i + 8], 1);
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memcpy(&Temp_ch.SPCChNumber, &packet[27 * i + 9], 1);
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memcpy(&Temp_ch.Value_Cnt, &packet[27 * i + 10], 1);
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memcpy(&Temp_ch.temperature, &packet[27 * i + 11], 4);
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memcpy(&Temp_ch.Timestamp, &packet[27 * i + 15], 4);
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memcpy(&Temp_ch.end_string, &packet[27 * i + 19], 8);
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/* The data (temperature, timestamp) are here saved in the datapool.
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* They will be exploited by the thermal controller.
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*/
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memcpy(&TempValueVec[i], &Temp_ch.temperature, 4);
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memcpy(&TempTimeVec[i], &Temp_ch.Timestamp, 4);
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// The data are here printed (useful for tests).
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printf("\n\nStart: %7s", Temp_ch.start_string);
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printf("\nTyp: %u", Temp_ch.Typ);
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printf("\nSPCChNumber: %u", Temp_ch.SPCChNumber);
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printf("\nValue_Cnt: %u", Temp_ch.Value_Cnt);
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printf("\nTemperature: %f", Temp_ch.temperature);
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printf("\nTimestamp: %u", Temp_ch.Timestamp);
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printf("\nEnd: %7s", Temp_ch.end_string);
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vecTemp.emplace_back(Temp_ch);
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}
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ArduinoDataSet.commit(PoolVariableIF::VALID);
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/* The environment and orientation data reading and printing
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* are currently commented out because they are not needed.
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* Anyway they are available and they can be used if necessary.
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*/
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/*printf(
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"\n\n***********************************************************************************************\n");
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printf("ENVIRONMENTAL parameters are: ");
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for (int j = 0; j < 9; j++) {
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memcpy(&Env_ch.start_string, &packet[27 * (36 + j) + 0], 8);
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memcpy(&Env_ch.Typ, &packet[27 * (36 + j) + 8], 1);
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memcpy(&Env_ch.SPCChNumber, &packet[27 * (36 + j) + 9], 1);
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memcpy(&Env_ch.Value_Cnt, &packet[27 * (36 + j) + 10], 1);
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memcpy(&Env_ch.Value, &packet[27 * (36 + j) + 11], 4);
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memcpy(&Env_ch.Timestamp, &packet[27 * (36 + j) + 15], 4);
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memcpy(&Env_ch.end_string, &packet[27 * (36 + j) + 19], 8);
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// The data are here printed (useful for tests).
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if (j == 0 || j == 3 || j == 6) {
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printf("\n\nHUMIDITY: ");
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} else if (j == 1 || j == 4 || j == 7) {
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printf("\n\nPRESSURE: ");
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} else {
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printf("\n\nTEMPERATURE: ");
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}
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printf("\n\nStart: %7s", Env_ch.start_string);
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printf("\nTyp: %u", Env_ch.Typ);
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printf("\nSPCChNumber: %u", Env_ch.SPCChNumber);
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printf("\nValue_Cnt: %u", Env_ch.Value_Cnt);
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printf("\nTemperature: %f", Env_ch.Value);
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printf("\nTimestamp: %u", Env_ch.Timestamp);
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printf("\nEnd: %7s", Env_ch.end_string);
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vecEnv.emplace_back(Env_ch);
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}
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printf(
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"\n\n***********************************************************************************************\n");
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printf("ACCELEROMETER parameters are: ");
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for (int k = 0; k < 15; k++) {
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memcpy(&Ornt_ch.start_string, &packet[27 * (36 + 9) + 91 * k + 0], 8);
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memcpy(&Ornt_ch.Typ, &packet[27 * (36 + 9) + 91 * k + 8], 1);
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memcpy(&Ornt_ch.SPCChNumber, &packet[27 * (36 + 9) + 91 * k + 9], 1);
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memcpy(&Ornt_ch.Value_Cnt, &packet[27 * (36 + 9) + 91 * k + 10], 1);
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memcpy(&Ornt_ch.Value, &packet[27 * (36 + 9) + 91 * k + 11], 36);
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memcpy(&Ornt_ch.Timestamp, &packet[27 * (36 + 9) + 91 * k + 47], 36);
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memcpy(&Ornt_ch.end_string, &packet[27 * (36 + 9) + 91 * k + 83], 8);
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// The data are here printed (useful for tests).
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switch (k) {
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case 0:
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printf("\n\nACCELERATION: ");
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break;
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case 3:
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printf("\n\nGYROSCOPE: ");
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break;
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case 6:
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printf("\n\nMAGNETOMETER: ");
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break;
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case 9:
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printf("\n\nLINEAR ACCELERATION: ");
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break;
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case 12:
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printf("\n\nEULER ANGLES: ");
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break;
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}
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if (k == 0 || k == 3 || k == 6 || k == 9 || k == 12) {
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printf("\n\nX ==> ");
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} else if (k == 1 || k == 4 || k == 7 || k == 10 || k == 13) {
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printf("\n\nY ==> ");
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} else {
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printf("\n\nZ ==> ");
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}
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printf("\nStart: %7s", Ornt_ch.start_string);
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printf("\nTyp: %u", Ornt_ch.Typ);
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printf("\nSPCChNumber: %u", Ornt_ch.SPCChNumber);
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printf("\nValue_Cnt: %u", Ornt_ch.Value_Cnt);
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for (int i = 0; i < 9; i++) {
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printf("\nMeasurement number: %d", i);
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printf("\nValue: %f", Ornt_ch.Value[i]);
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printf("\nTimestamp: %u", Ornt_ch.Timestamp[i]);
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}
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printf("\nEnd: %7s", Ornt_ch.end_string);
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vecOrnt.emplace_back(Ornt_ch);
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}//*/
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std::cout << "\n\nEnd reading data.\n" << std::endl;
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return RETURN_OK;
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}
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void ArduinoDH::setNormalDatapoolEntriesInvalid() {
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}
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