From b34162d2e9f14223dafc78c98d0aefeb179e0cd3 Mon Sep 17 00:00:00 2001
From: Karol Hennessy <revkarol@gmail.com>
Date: Mon, 13 Apr 2020 18:55:49 +0200
Subject: [PATCH] working comms with fsm loop
---
arduino/breathing_with_comms/src/main.cpp | 22 +++++++++----------
.../breathing_with_comms/src/test_hw_loop.cpp | 9 ++++++--
.../breathing_with_comms/src/test_hw_loop.h | 1 +
.../common/lib/commsControl/commsControl.cpp | 9 +++-----
.../common/lib/commsControl/commsControl.h | 2 +-
raspberry-dataserver/commsDebug.py | 18 ++++++++-------
6 files changed, 32 insertions(+), 29 deletions(-)
diff --git a/arduino/breathing_with_comms/src/main.cpp b/arduino/breathing_with_comms/src/main.cpp
index fe33f6f2..3cb00e08 100644
--- a/arduino/breathing_with_comms/src/main.cpp
+++ b/arduino/breathing_with_comms/src/main.cpp
@@ -6,11 +6,11 @@
int ventilation_mode = HEV_MODE_PS;
-const uint16_t report_freq = 1 ; // in Hz
+const uint16_t report_freq = 5 ; // in Hz
const uint16_t update_freq = 100 ; // in Hz
uint16_t report_cnt = 0;
-
+
float working_pressure = 1; //?
float inspiratory_minute_volume = 6000; // ml/min
float respiratory_rate = 15; // 10-40 +-1 ;aka breaths_per_min
@@ -97,7 +97,6 @@ void setup()
}
-int buga, bugb, bugc = 0;
void loop()
{
// buzzer
@@ -112,9 +111,9 @@ void loop()
getValves(vin_air, vin_o2, vinhale, vexhale, vpurge, vatmos);
data.readback_valve_air_in = vin_air;
data.readback_valve_o2_in = vin_o2;
- data.readback_valve_inhale = buga; //vinhale;
- data.readback_valve_exhale = bugb; //vexhale;
- data.readback_valve_purge = bugc; //vpurge;
+ data.readback_valve_inhale = vinhale;
+ data.readback_valve_exhale = vexhale;
+ data.readback_valve_purge = vpurge;
// data.pressure_o2_supply = freeMemory() & 0xFFFF;
// data.pressure_o2_regulated = freeMemory() >> 16;
// TODO ; add to dataFormat
@@ -124,17 +123,17 @@ void loop()
FSM_breath_cycle();
report_cnt++;
- // if(report_cnt % (update_freq/report_freq) == 0)
- // {
+ if(report_cnt % (update_freq/report_freq) == 0)
+ {
plSend.setType(payloadType::payloadData);
plSend.setData(&data);
comms.writePayload(plSend);
- // }
+ }
// per cycle sender
comms.sender();
// per cycle receiver
- comms.receiver(buga, bugb, bugc);
+ comms.receiver();
uint8_t cmdCode = 0;
if(comms.readPayload(plReceive)){
@@ -142,7 +141,6 @@ void loop()
cmdCode = (plReceive.getCmd()->cmdCode);
plReceive.setType(payloadType::payloadUnset);
}
-
}
switch(cmdCode){
@@ -153,5 +151,5 @@ void loop()
default:
break;
}
- delay(1000);
+ delay(1000/update_freq);
}
diff --git a/arduino/breathing_with_comms/src/test_hw_loop.cpp b/arduino/breathing_with_comms/src/test_hw_loop.cpp
index 14597919..dbe08358 100644
--- a/arduino/breathing_with_comms/src/test_hw_loop.cpp
+++ b/arduino/breathing_with_comms/src/test_hw_loop.cpp
@@ -27,8 +27,8 @@ void FSM_assignment( ) {
{
case BS_IDLE:
if (running == true) {
+ // FSM_time = millis();
next_state = BS_BUFF_PREFILL;
- FSM_time = millis();
// Serial.println("Exit IDLE") ;
} else {
next_state = BS_IDLE;
@@ -100,7 +100,7 @@ void FSM_breath_cycle()
case BS_IDLE:
if (running == true) {
- FSM_time = millis();
+ // FSM_time = millis();
} else {
timeout = 1000;
}
@@ -177,4 +177,9 @@ void do_start()
void do_stop()
{
running = false;
+}
+
+bool get_running()
+{
+ return running;
}
\ No newline at end of file
diff --git a/arduino/breathing_with_comms/src/test_hw_loop.h b/arduino/breathing_with_comms/src/test_hw_loop.h
index 80ea6e76..2aa1c0e3 100644
--- a/arduino/breathing_with_comms/src/test_hw_loop.h
+++ b/arduino/breathing_with_comms/src/test_hw_loop.h
@@ -6,6 +6,7 @@ void FSM_assignment();
void FSM_breath_cycle();
void do_start();
void do_stop();
+bool get_running();
// states
enum BS_STATES : byte
diff --git a/arduino/common/lib/commsControl/commsControl.cpp b/arduino/common/lib/commsControl/commsControl.cpp
index d904363a..091f93a8 100644
--- a/arduino/common/lib/commsControl/commsControl.cpp
+++ b/arduino/common/lib/commsControl/commsControl.cpp
@@ -57,7 +57,7 @@ void commsControl::sender() {
// main function to always try to receive data
// TODO: needs switch on data type with global timeouts on data pushing
-void commsControl::receiver(int &buga, int &bugb, int &bugc) {
+void commsControl::receiver() {
uint8_t currentTransIndex;
// check if any data in waiting
@@ -96,17 +96,14 @@ void commsControl::receiver(int &buga, int &bugb, int &bugc) {
// received NACK
// TODO: modify timeout for next sent frame?
// resendPacket(&address);
- buga++;
break;
case COMMS_CONTROL_ACK:
// received ACK
finishPacket(type);
- bugb++;
break;
default:
uint8_t tmpSequenceReceive = (control >> 1 ) & 0x7F;
tmpSequenceReceive += 1;
- bugc++;
// received DATA
if (receivePacket(type)) {
commsAck_->setAddress(commsTmp_.getAddress());
@@ -135,7 +132,7 @@ void commsControl::receiver(int &buga, int &bugb, int &bugc) {
lastTransIndex_ = 0;
}
}
- }
+ }
}
bool commsControl::writePayload(payload &pl) {
@@ -249,7 +246,7 @@ void commsControl::sendPacket(commsFormat *packet) {
if (encoder(packet->getData(), packet->getSize()) ) {
if (Serial.availableForWrite() >= commsSendSize_) {
Serial.write(commsSend_, commsSendSize_);
- }
+ }
}
}
diff --git a/arduino/common/lib/commsControl/commsControl.h b/arduino/common/lib/commsControl/commsControl.h
index 155641d3..21dc3d55 100644
--- a/arduino/common/lib/commsControl/commsControl.h
+++ b/arduino/common/lib/commsControl/commsControl.h
@@ -23,7 +23,7 @@ public:
bool readPayload (payload &pl);
void sender();
- void receiver(int&, int&, int&);
+ void receiver();
private:
RingBuf<commsFormat *,CONST_MAX_SIZE_RB_SENDING> *getQueue(payloadType &type);
diff --git a/raspberry-dataserver/commsDebug.py b/raspberry-dataserver/commsDebug.py
index 22d17ed7..3d7553bb 100755
--- a/raspberry-dataserver/commsDebug.py
+++ b/raspberry-dataserver/commsDebug.py
@@ -16,8 +16,9 @@ class Dependant(object):
self._lli.bind_to(self.update_llipacket)
def update_llipacket(self, payload):
- # logging.info(f"payload received: {payload}")
- logging.info(f"payload received: {payload._readback_valve_inhale} {payload._readback_valve_exhale} {payload._readback_valve_purge} {payload._fsm_state}")
+ logging.info(f"payload received: {payload}")
+ #logging.info(f"payload received: {payload._fsm_state}")
+ #logging.info(f"payload received: {payload._readback_valve_o2_in} {payload._readback_valve_inhale} {payload._readback_valve_exhale} {payload._readback_valve_purge} {payload._fsm_state}")
self._llipacket = payload.getDict() # returns a dict
# pop from queue - protects against Dependant going down and not receiving packets
self._lli.pop_payloadrecv()
@@ -27,17 +28,18 @@ start = 0x1
stop = 0x2
cmd = commandFormat()
-cmd.cmdCode = start
+cmd._cmdCode = start
cmd.toByteArray()
time.sleep(4)
comms.writePayload(cmd)
#comms.sender()
+print('sent cmd start')
while True:
- # time.sleep(1)
- # cmd.cmdCode = stop
- # cmd.toByteArray()
- # comms.writePayload(cmd)
- #comms.registerData(stop)
+ time.sleep(20)
+ cmd._cmdCode = stop
+ cmd.toByteArray()
+ comms.writePayload(cmd)
+ print('sent cmd stop')
pass
--
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