diff --git a/arduino/common/lib/commsControl/commsConstants.h b/arduino/common/lib/commsControl/commsConstants.h
index fecc66bb65ad8eef33c67451b73b19d63e5463b6..1d658631a47c9135e452bc5d18857ad758cec1b3 100644
--- a/arduino/common/lib/commsControl/commsConstants.h
+++ b/arduino/common/lib/commsControl/commsConstants.h
@@ -85,64 +85,67 @@ class payload {
public:
payload(payloadType type = payloadType::payloadUnset) {type_ = type; } //data_ = nullptr; cmd_ = nullptr; alarm_ = nullptr; }
payload(const payload &other) {
-// unsetAll();
type_ = other.type_;
- /*if ( other. data_ != nullptr) { data_ = new dataFormat;*/ memcpy(& data_, & other.data_, sizeof( dataFormat));// } else { data_ = nullptr; }
- /*if ( other. cmd_ != nullptr) { cmd_ = new cmdFormat;*/ memcpy(& cmd_, & other.cmd_, sizeof( cmdFormat));// } else { cmd_ = nullptr; }
- /*if ( other.alarm_ != nullptr) { alarm_ = new alarmFormat;*/ memcpy(&alarm_, &other.alarm_, sizeof(alarmFormat));// } else {alarm_ = nullptr; }
+ memcpy(& data_, &other. data_, sizeof( dataFormat));
+ memcpy(& cmd_, &other. cmd_, sizeof( cmdFormat));
+ memcpy(&alarm_, &other.alarm_, sizeof(alarmFormat));
}
payload& operator=(const payload& other) {
-// unsetAll();
type_ = other.type_;
- /*if ( other. data_ != nullptr) { data_ = new dataFormat;*/ memcpy(& data_, & other.data_, sizeof( dataFormat));// } else { data_ = nullptr; }
- /*if ( other. cmd_ != nullptr) { cmd_ = new cmdFormat;*/ memcpy(& cmd_, & other.cmd_, sizeof( cmdFormat));// } else { cmd_ = nullptr; }
- /*if ( other.alarm_ != nullptr) { alarm_ = new alarmFormat;*/ memcpy(&alarm_, &other.alarm_, sizeof(alarmFormat));// } else {alarm_ = nullptr; }
-
+ memcpy(& data_, &other. data_, sizeof( dataFormat));
+ memcpy(& cmd_, &other. cmd_, sizeof( cmdFormat));
+ memcpy(&alarm_, &other.alarm_, sizeof(alarmFormat));
return *this;
}
- ~payload() {;}//unsetData(); unsetAlarm(); unsetCmd();}
+ ~payload() { unsetAll(); }
void setType(payloadType type) { type_ = type; }
payloadType getType() {return type_; }
// requires argument as new struct
- void setData (dataFormat *data) { /*unsetAll(); */ type_ = payloadType::payloadData; /* data_ = new dataFormat( *data); }*/ memcpy(& data_, data, sizeof( dataFormat)); }
- void setCmd (cmdFormat *cmd) { /*unsetAll(); */ type_ = payloadType::payloadCmd; /* cmd_ = new cmdFormat( *cmd); }*/ memcpy(& cmd_, cmd, sizeof( cmdFormat)); }
- void setAlarm(alarmFormat *alarm) { /*unsetAll(); */ type_ = payloadType::payloadAlarm;/* alarm_ = new alarmFormat( *alarm); }*/ memcpy(&alarm_, alarm, sizeof(alarmFormat)); }
+ void setData (dataFormat *data) { type_ = payloadType::payloadData; memcpy(& data_, data, sizeof( dataFormat)); }
+ void setCmd (cmdFormat *cmd) { type_ = payloadType::payloadCmd; memcpy(& cmd_, cmd, sizeof( cmdFormat)); }
+ void setAlarm(alarmFormat *alarm) { type_ = payloadType::payloadAlarm; memcpy(&alarm_, alarm, sizeof(alarmFormat)); }
- dataFormat *getData () {return &data_; }
- cmdFormat *getCmd () {return &cmd_; }
+ // get pointers to particular payload types
+ dataFormat *getData () {return & data_; }
+ cmdFormat *getCmd () {return & cmd_; }
alarmFormat *getAlarm() {return &alarm_; }
-// void unsetAll() { unsetData(); unsetAlarm(); unsetCmd(); type_ = payloadType::payloadUnset; }
-// void unsetData() { if ( data_ != nullptr) { delete data_; data_ = nullptr; } }
-// void unsetCmd() { if ( cmd_ != nullptr) { delete cmd_; cmd_ = nullptr; } }
-// void unsetAlarm() { if (alarm_ != nullptr) { delete alarm_; alarm_ = nullptr; } }
+ void unsetAll() { unsetData(); unsetAlarm(); unsetCmd(); type_ = payloadType::payloadUnset; }
+ void unsetData() { memset(& data_, 0, sizeof( dataFormat)); }
+ void unsetCmd() { memset(& cmd_, 0, sizeof( cmdFormat)); }
+ void unsetAlarm() { memset(&alarm_, 0, sizeof(alarmFormat)); }
+
+ void setPayload(payloadType type, void* information) {
+ setType(type);
+ setInformation(information);
+ }
- void setPayload(payloadType type, void* dt) {
- switch (type) {
+ void setInformation(void* information) {
+ switch (type_) {
case payloadType::payloadData:
- setData(reinterpret_cast<dataFormat*>(dt));
+ setData (reinterpret_cast< dataFormat*>(information));
break;
case payloadType::payloadCmd:
- setCmd(reinterpret_cast<cmdFormat*>(dt));
+ setCmd (reinterpret_cast< cmdFormat*>(information));
break;
case payloadType::payloadAlarm:
- setAlarm(reinterpret_cast<alarmFormat*>(dt));
+ setAlarm(reinterpret_cast<alarmFormat*>(information));
break;
default:
break;
}
}
- // returns void pointer, in case you know what to do with data
+ // returns void pointer, in case you know what to do with data or dont care what the format is
void *getInformation() {
switch (type_) {
case payloadType::payloadData:
- return reinterpret_cast<void*>(getData());
+ return reinterpret_cast<void*>(getData ());
case payloadType::payloadCmd:
- return reinterpret_cast<void*>(getCmd());
+ return reinterpret_cast<void*>(getCmd ());
case payloadType::payloadAlarm:
return reinterpret_cast<void*>(getAlarm());
default:
@@ -150,7 +153,8 @@ public:
}
}
- uint8_t getInformationSize() {
+ // returns payload information size
+ uint8_t getSize() {
switch (type_) {
case payloadType::payloadData:
return static_cast<uint8_t>(sizeof( dataFormat));
diff --git a/arduino/common/lib/commsControl/commsControl.cpp b/arduino/common/lib/commsControl/commsControl.cpp
index 00fb149b2bd61068aae7f5512401a63f60a3173e..69eb4cf4a3a23f2b84b381c1a91134e056d9c99e 100644
--- a/arduino/common/lib/commsControl/commsControl.cpp
+++ b/arduino/common/lib/commsControl/commsControl.cpp
@@ -99,13 +99,13 @@ void commsControl::receiver() {
break;
case COMMS_CONTROL_ACK:
// received ACK
- finishPacket(&type);
+ finishPacket(type);
break;
default:
uint8_t tmpSequenceReceive = (control >> 1 ) & 0x7F;
tmpSequenceReceive += 1;
// received DATA
- if (receivePacket(&type)) {
+ if (receivePacket(type)) {
commsAck_->setAddress(commsTmp_.getAddress());
commsAck_->setSequenceReceive(tmpSequenceReceive);
sendPacket(commsAck_);
@@ -155,16 +155,16 @@ bool commsControl::writePayload(payload &pl) {
return false;
}
- RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *tmpQueue = getQueue(&type);
+ RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *queue = getQueue(type);
// add new entry to the queue
- if (tmpQueue->isFull()) {
+ if (queue->isFull()) {
commsFormat *tmpCommsRm;
- if (tmpQueue->pop(tmpCommsRm)) {
+ if (queue->pop(tmpCommsRm)) {
delete tmpCommsRm;
}
}
- if (tmpQueue->push(tmpComms) ) {
+ if (queue->push(tmpComms) ) {
return true;
}
return false;
@@ -258,46 +258,28 @@ void commsControl::resendPacket(RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING
// receiving anything of commsFormat
-bool commsControl::receivePacket(payloadType *type) {
- payload tmpPl = payload(*type);
-
- void *tmpInformation = nullptr;
- switch (*type) {
- case payloadType::payloadData:
- tmpInformation = reinterpret_cast<void*>(tmpPl.getData());
-// tmpInformation = reinterpret_cast<void*>(new dataFormat);
- break;
- case payloadType::payloadCmd:
- tmpInformation = reinterpret_cast<void*>(tmpPl.getCmd());
-// tmpInformation = reinterpret_cast<void*>(new cmdFormat);
- break;
- case payloadType::payloadAlarm:
- tmpInformation = reinterpret_cast<void*>(tmpPl.getAlarm());
-// tmpInformation = reinterpret_cast<void*>(new alarmFormat);
- break;
- default:
- break;
- }
-
- if (tmpInformation == nullptr) {
- return false;
- }
- memcpy(tmpInformation, commsTmp_.getInformation(), commsTmp_.getInfoSize());
- tmpPl.setPayload(*type, tmpInformation);
-
- // remove first entry if RB is full
- if (queueReceived_->isFull()) {
- payload tmpPlRm;
- if (queueReceived_->pop(tmpPlRm)) {
- ;
+bool commsControl::receivePacket(payloadType &type) {
+ payloadTmp_.unsetAll();
+ payloadTmp_.setType(type);
+ void *tmpInformation = payloadTmp_.getInformation();
+ // if type is definet, copy information from comms to payload
+ if (tmpInformation != nullptr) {
+ memcpy(tmpInformation, commsTmp_.getInformation(), commsTmp_.getInfoSize());
+
+ // remove first entry if queue is full
+ if (queueReceived_->isFull()) {
+ payload tmpPlRm;
+ if (queueReceived_->pop(tmpPlRm)) {
+ ;
+ }
}
+ return queueReceived_->push(payloadTmp_);
}
-
- return queueReceived_->push(tmpPl);
+ return false;
}
// if FCS is ok, remove from queue
-void commsControl::finishPacket(payloadType *type) {
+void commsControl::finishPacket(payloadType &type) {
RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *tmpQueue = getQueue(type);
if (tmpQueue != nullptr && !tmpQueue->isEmpty()) {
@@ -327,8 +309,8 @@ payloadType commsControl::getInfoType(uint8_t *address) {
}
// get link to queue according to packet format
-RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *commsControl::getQueue(payloadType *type) {
- switch (*type) {
+RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *commsControl::getQueue(payloadType &type) {
+ switch (type) {
case payloadType::payloadAlarm:
return queueAlarm_;
case payloadType::payloadCmd:
diff --git a/arduino/common/lib/commsControl/commsControl.h b/arduino/common/lib/commsControl/commsControl.h
index 789f360585a89a886a8a022e01a2faef831622f5..21dc3d556545f20898a9ceb26b9b976b7426997e 100644
--- a/arduino/common/lib/commsControl/commsControl.h
+++ b/arduino/common/lib/commsControl/commsControl.h
@@ -26,13 +26,13 @@ public:
void receiver();
private:
- RingBuf<commsFormat *,CONST_MAX_SIZE_RB_SENDING> *getQueue(payloadType *type);
+ RingBuf<commsFormat *,CONST_MAX_SIZE_RB_SENDING> *getQueue(payloadType &type);
payloadType getInfoType(uint8_t *address);
void sendQueue (RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *queue);
void resendPacket (RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *queue);
- bool receivePacket(payloadType *type);
- void finishPacket (payloadType *type);
+ bool receivePacket(payloadType &type);
+ void finishPacket (payloadType &type);
bool encoder(uint8_t* payload, uint8_t dataSize);
bool decoder(uint8_t* payload, uint8_t dataStart, uint8_t dataStop);
@@ -52,6 +52,7 @@ private:
RingBuf<payload, CONST_MAX_SIZE_RB_RECEIVING> *queueReceived_;
+ payload payloadTmp_;
commsFormat commsTmp_;
uint32_t baudrate_;
diff --git a/arduino/common/lib/commsControl/commsFormat.cpp b/arduino/common/lib/commsControl/commsFormat.cpp
index b4951e597f8dc635810eb730d2d3f38bc7f38398..22bde48b2a33607dff2441c5dbc56674368511c8 100644
--- a/arduino/common/lib/commsControl/commsFormat.cpp
+++ b/arduino/common/lib/commsControl/commsFormat.cpp
@@ -94,17 +94,17 @@ void commsFormat::copyData(uint8_t* data, uint8_t dataSize) {
// STATIC METHODS
// TODO rewrite in a slightly better way using the enum
commsFormat* commsFormat::generateALARM(payload *pl) {
- commsFormat *tmpComms = new commsFormat(pl->getInformationSize(), PACKET_ALARM);
+ commsFormat *tmpComms = new commsFormat(pl->getSize(), PACKET_ALARM);
tmpComms->setInformation(pl);
return tmpComms;
}
commsFormat* commsFormat::generateCMD (payload *pl) {
- commsFormat *tmpComms = new commsFormat(pl->getInformationSize(), PACKET_CMD );
+ commsFormat *tmpComms = new commsFormat(pl->getSize(), PACKET_CMD );
tmpComms->setInformation(pl);
return tmpComms;
}
commsFormat* commsFormat::generateDATA (payload *pl) {
- commsFormat *tmpComms = new commsFormat(pl->getInformationSize(), PACKET_DATA );
+ commsFormat *tmpComms = new commsFormat(pl->getSize(), PACKET_DATA );
tmpComms->setInformation(pl);
return tmpComms;
}
diff --git a/arduino/protocol/platformio.ini b/arduino/protocol/platformio.ini
index 46ff784048a7388b5f9d13e53b04d75b8f1d51de..62149f68ec704517da1308e246f87cf293a5c556 100644
--- a/arduino/protocol/platformio.ini
+++ b/arduino/protocol/platformio.ini
@@ -17,6 +17,7 @@ lib_deps =
5390 ; uCRC16Lib
5418 ; RingBuffer
build_flags = -fpermissive -I../common/include/
+lib_extra_dirs = ../common/lib
[env:uno]
platform = atmelavr
diff --git a/arduino/protocol/platformio.pro b/arduino/protocol/platformio.pro
index 7aa95f3693275c245c73fbc05683720531233fa4..f85d56595ae90ff70d4bf7e1c6cdda9f488219fc 100644
--- a/arduino/protocol/platformio.pro
+++ b/arduino/protocol/platformio.pro
@@ -6,7 +6,7 @@ else {
}
INCLUDEPATH += "$${_PRO_FILE_PWD_}/include"
INCLUDEPATH += "$${_PRO_FILE_PWD_}/src"
-INCLUDEPATH += "$${_PRO_FILE_PWD_}/lib/commsControl"
+INCLUDEPATH += "$${_PRO_FILE_PWD_}/../common/lib/commsControl"
INCLUDEPATH += "$${_PRO_FILE_PWD_}/.pio/libdeps/uno/uCRC16Lib_ID5390/src"
INCLUDEPATH += "$${_PRO_FILE_PWD_}/.pio/libdeps/uno/RingBuffer_ID5418/src"
INCLUDEPATH += "$${HOMEDIR}/.platformio/packages/framework-arduino-avr/cores/arduino"
@@ -31,9 +31,9 @@ DEFINES += "__AVR_ATmega328P__"
OTHER_FILES += platformio.ini
SOURCES += src/protocol.cpp \
- lib/commsControl/commsControl.cpp \
- lib/commsControl/commsFormat.cpp
+ ../common/lib/commsControl/commsControl.cpp \
+ ../common/lib/commsControl/commsFormat.cpp
-HEADERS += lib/commsControl/commsConstants.h \
- lib/commsControl/commsControl.h \
- lib/commsControl/commsFormat.h
+HEADERS += ../common/lib/commsControl/commsConstants.h \
+ ../common/lib/commsControl/commsControl.h \
+ ../common/lib/commsControl/commsFormat.h
diff --git a/arduino/protocol/src/protocol.cpp b/arduino/protocol/src/protocol.cpp
index 3b94233029e10c58fa7698e42781c8af40e63a32..5bcb36863fd42ffdeaa6e2b6780167ab0c917a0f 100644
--- a/arduino/protocol/src/protocol.cpp
+++ b/arduino/protocol/src/protocol.cpp
@@ -21,6 +21,11 @@ bool blue_ = false;
bool green_ = false;
bool red_ = false;
+bool enabled_ = false;
+
+uint32_t lastTime_ = 0;
+
+uint32_t offset_ = 10;
// dirty function to switch one of the LEDs
void switchLED(int led) {
@@ -76,23 +81,40 @@ void loop() {
}
previousState_ = currentState_;
}
-// switchLED(LED_BLUE);
- // counter increase on button press
-// plSend_.getData()->fsm_state += 1;
-// comms_.writePayload(plSend_);
+
+ if (enabled_ & (millis() > (lastTime_ + offset_)))
+ {
+ lastTime_ = millis();
+
+ plSend_.getData()->readback_valve_air_in = static_cast<uint8_t>((lastTime_ >> 24) & 0xFF);
+ plSend_.getData()->readback_valve_o2_in = static_cast<uint8_t>((lastTime_ >> 16) & 0xFF);
+ plSend_.getData()->readback_valve_inhale = static_cast<uint8_t>((lastTime_ >> 8 ) & 0xFF);
+ plSend_.getData()->readback_valve_exhale = static_cast<uint8_t>((lastTime_ >> 0 ) & 0xFF);
+
+ switchLED(LED_BLUE);
+ plSend_.setType(payloadType::payloadData);
+ plSend_.getData()->fsm_state += 1;
+ comms_.writePayload(plSend_);
+ }
// per cycle sender
comms_.sender();
// per cycle receiver
comms_.receiver();
- // per cycle data checker - the received entry is automatically removed from the buffer
if (comms_.readPayload(plReceive_)) {
switch (plReceive_.getType()) {
case payloadType::payloadCmd:
- switchLED(plReceive_.getCmd()->cmdCode);
- alarm_.alarmCode = plReceive_.getCmd()->cmdCode + 1;
+ if (plReceive_.getCmd()->cmdCode % 2 == 0) {
+ enabled_ = false;
+ } else {
+ enabled_ = true;
+ }
+ offset_ = plReceive_.getCmd()->param;
+
+ alarm_.alarmCode = plReceive_.getCmd()->cmdCode;
+ alarm_.param = millis() & 0xFFFFFFFF;
plSend_.setAlarm(&alarm_);
comms_.writePayload(plSend_);
break;
@@ -102,5 +124,4 @@ void loop() {
plReceive_.setType(payloadType::payloadUnset);
}
- delay(50);
}
diff --git a/raspberry-dataserver/commsConstants.py b/raspberry-dataserver/commsConstants.py
index 0207a09704c0f9090abd85859213cd6a3a29b405..a5668a58b075273e19d79ea2d482ae4f52f3ff77 100644
--- a/raspberry-dataserver/commsConstants.py
+++ b/raspberry-dataserver/commsConstants.py
@@ -59,7 +59,7 @@ class dataFormat(BaseFormat):
# < = little endian
# > = big endian
# ! = network format (big endian)
- self._dataStruct = Struct("!BBHHHHHHHHHBBBBBB")
+ self._dataStruct = Struct("<BBHHHHHHHHHBBBBBB")
self._byteArray = None
self._type = payloadType.payloadData
@@ -184,7 +184,7 @@ class dataFormat(BaseFormat):
class commandFormat(BaseFormat):
def __init__(self):
super().__init__()
- self._dataStruct = Struct("!BBI")
+ self._dataStruct = Struct("<BBI")
self._byteArray = None
self._type = payloadType.payloadCmd
@@ -231,7 +231,7 @@ class command_codes(Enum):
class alarmFormat(BaseFormat):
def __init__(self):
super().__init__()
- self._dataStruct = Struct("!BBI")
+ self._dataStruct = Struct("<BBI")
self._byteArray = None
self._type = payloadType.payloadAlarm
diff --git a/raspberry-dataserver/commsControl.py b/raspberry-dataserver/commsControl.py
index 4ba141f2e9322c05c1eaeeb2a2c343a9365cc75f..3c929352bfa497e68968688550aec603b5900542 100644
--- a/raspberry-dataserver/commsControl.py
+++ b/raspberry-dataserver/commsControl.py
@@ -15,7 +15,7 @@ from collections import deque
import binascii
import logging
-logging.basicConfig(level=logging.DEBUG, format='%(asctime)s - %(levelname)s - %(message)s')
+logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s')
# communication class that governs talking between devices
@@ -44,21 +44,19 @@ class commsControl():
self._sequenceReceive = 0
# initialize of the multithreading
- self._lock = threading.Lock()
+ self._lockSerial = threading.Lock()
self._receiving = True
- receivingWorker = threading.Thread(target=self.receiver, daemon=True)
- receivingWorker.start()
+ threading.Thread(target=self.receiver, daemon=True).start()
self._sending = True
self._datavalid = threading.Event() # callback for send process
self._dvlock = threading.Lock() # make callback threadsafe
- sendingWorker = threading.Thread(target=self.sender, daemon=True)
- sendingWorker.start()
+ threading.Thread(target=self.sender, daemon=True).start()
# open serial port
def openSerial(self, port, baudrate = 115200, timeout = 2):
if port is not None:
- self._serial = serial.Serial(port = port, baudrate=baudrate, timeout = timeout)
+ self._serial = serial.Serial(port = port, baudrate=baudrate, timeout = timeout, dsrdtr = True)
else:
try:
self._serial.close()
@@ -74,14 +72,21 @@ class commsControl():
self.sendQueue(self._alarms , 10)
self.sendQueue(self._commands, 50)
self.sendQueue(self._data , 200)
- with self._dvlock:
- self._datavalid.clear()
+ if self.finishedSending():
+ with self._dvlock:
+ self._datavalid.clear()
+
+ def finishedSending(self):
+ if (len(self._alarms) + len(self._data) + len(self._commands)) > 0:
+ return False
+ else:
+ return True
def receiver(self):
while self._receiving:
if self._serial is not None:
if self._serial.in_waiting > 0:
- with self._lock:
+ with self._lockSerial:
logging.debug("Receiving data...")
data = self._serial.read(self._serial.in_waiting)
self.processPacket(data)
@@ -91,7 +96,7 @@ class commsControl():
logging.debug(f'Queue length: {len(queue)}')
currentTime = int(round(time.time() * 1000))
if currentTime > (self._timeLastTransmission + timeout):
- with self._lock:
+ with self._lockSerial:
self._timeLastTransmission = currentTime
queue[0].setSequenceSend(self._sequenceSend)
self.sendPacket(queue[0])
@@ -154,8 +159,6 @@ class commsControl():
else:
sequenceReceive = ((control >> 1) & 0x7F) + 1
address = tmpComms.getData()[tmpComms.getAddress():tmpComms.getControl()]
-
- #payload = tmpComms.getData()[tmpComms.getInformation() : tmpComms.getFcs()]
if self.receivePacket(payloadType, tmpComms):
logging.debug("Preparing ACK")
@@ -169,7 +172,7 @@ class commsControl():
self._received.clear()
self._foundStart = False
- self._receivedStart = -1
+ self._receivedStart = -1
def writePayload(self, payload):
payloadType = payload.getType()