Revision 17:0dbcbd8587fd, committed 2016-01-22

Comitter:

henryrawas

Date:

Fri Jan 22 01:35:07 2016 +0000

Parent:

16:c3c0a3a56015

Child:

18:224289104fc0

Commit message:

add all measures to circular buffer at once. Handle alert command

Changed in this revision

--- a/ArmController.cpp	Tue Jan 19 20:18:23 2016 +0000
+++ b/ArmController.cpp	Fri Jan 22 01:35:07 2016 +0000
@@ -26,8 +26,7 @@
 
 // try to send some status this many ms
 #define SEND_STATUS_TO          500
-// use slower status send rate if paused
-#define SEND_STATUS_PAUSED_TO   20000
+
 
 // controller polling timer
 Timer IdleTimer;
@@ -59,6 +58,11 @@
         ShowLedBlue();
         MainState = MS_Paused;
     }
+    else if (strncmp(cmd, "alert", 6) == 0)
+    {
+        ShowLedRed();
+        MainState = MS_Error;
+    }
     else if (strncmp(cmd, "resume", 6) == 0)
     {
         ShowLedGreen();
@@ -344,22 +348,17 @@
         // check if time to send status
         if (now >= NextSendMs)
         {
-            // if paused, use longer time out for sending data
-            if (MainState != MS_Paused ||
-                now > NextSendMs + SEND_STATUS_PAUSED_TO)
+            NextSendMs = now + SEND_STATUS_TO;
+            if (!PushMeasurements(partSize, robotArm))
             {
-                NextSendMs = now + SEND_STATUS_TO;
-                if (!PushMeasurements(partSize, robotArm))
+                if (sendAlert)
                 {
-                    if (sendAlert)
-                    {
-                        int partix = robotArm.GetLastErrorPart();
-                        int errCode = robotArm.GetLastError();
-                        printf("Hardware error detected joint %d, code %d \r\n", partix, errCode); 
-                        PushHardwareAlert(partix, errCode);
-                        NeedHwReset = true;
-                        MainState = MS_Error;
-                    }
+                    int partix = robotArm.GetLastErrorPart();
+                    int errCode = robotArm.GetLastError();
+                    printf("Hardware error detected joint %d, code %d \r\n", partix, errCode); 
+                    PushHardwareAlert(partix, errCode);
+                    NeedHwReset = true;
+                    MainState = MS_Error;
                 }
             }
         }

--- a/ControllerUtil.cpp	Tue Jan 19 20:18:23 2016 +0000
+++ b/ControllerUtil.cpp	Fri Jan 22 01:35:07 2016 +0000
@@ -129,40 +129,41 @@
 bool PushMeasurements(int partSize, RobotArm& robotArm)
 {
     // space for getting measurements from arm
-    MeasureGroup measureGroup;
+    MeasureSnapshot measureSnap;
     
     float lastVals[NUMJOINTS];
-    time_t seconds = time(NULL);
+    measureSnap.Created = time(NULL);
    
     bool ok = true;
 
     ok = robotArm.GetArmLastMeasure(NM_Temperature, lastVals);
     DispMeasure("Temperatures", partSize, lastVals);
-    measureGroup.SetMeasure(NM_Temperature, seconds, partSize, lastVals);
-    MeasureBuf.push(measureGroup);
+    measureSnap.Temps.SetMeasure(NM_Temperature, partSize, lastVals);
     
     if (ok)
     {
         ok = robotArm.GetArmLastMeasure(NM_Voltage, lastVals);
         DispMeasure("Voltage", partSize, lastVals);
-        measureGroup.SetMeasure(NM_Voltage, seconds, partSize, lastVals);
-        MeasureBuf.push(measureGroup);
+        measureSnap.Volts.SetMeasure(NM_Voltage, partSize, lastVals);
     }
     
     if (ok)
     {
         ok = robotArm.GetArmLastMeasure(NM_Degrees, lastVals);
         DispMeasure("Rotation", partSize, lastVals);
-        measureGroup.SetMeasure(NM_Degrees, seconds, partSize, lastVals);
-        MeasureBuf.push(measureGroup);
+        measureSnap.Positions.SetMeasure(NM_Degrees, partSize, lastVals);
     }
     
     if (ok)
     {
-        robotArm.GetArmLastMeasure(NM_Load, lastVals);
+        ok = robotArm.GetArmLastMeasure(NM_Load, lastVals);
         DispMeasure("Load", partSize, lastVals);
-        measureGroup.SetMeasure(NM_Load, seconds, partSize, lastVals);
-        MeasureBuf.push(measureGroup);
+        measureSnap.Loads.SetMeasure(NM_Load, partSize, lastVals);
+    }
+    
+    if (ok)
+    {
+        MeasureBuf.push(measureSnap);
     }
     
     return ok;

--- a/IothubSerial.cpp	Tue Jan 19 20:18:23 2016 +0000
+++ b/IothubSerial.cpp	Fri Jan 22 01:35:07 2016 +0000
@@ -96,7 +96,77 @@
         return -1;
 }
 
-// try to serialize one or more measurements into the buffer
+
+// try to serialize a snapshot into the buffer
+// return bytes used / -1 if buffer too small / 0 if no data
+// current serialization is a json object with time and array per measure
+// eg: { "time": "2016-01-23T14:55:02", "temp": [1, 2], "volt": [12.1, 12.2] }
+int IothubSerial::MeasureSnapshotToString(MeasureSnapshot& msnap, char* buf, int bufsize)
+{
+    int slen;
+    int startlen = bufsize;
+
+    slen = sprintf_s(buf, bufsize, "{");
+    if (slen > 0)
+    {
+        bufsize -= slen;
+        buf += slen;
+    }
+    else
+        return -1;
+
+    slen = AddTime(msnap.Created, buf, bufsize);
+    if (slen > 0)
+    {
+        bufsize -= slen;
+        buf += slen;
+    }
+    else
+        return -1;
+
+    slen = MeasureGroupToString(msnap.Temps, buf, bufsize);
+    if (slen > 0)
+    {
+        bufsize -= slen;
+        buf += slen;
+    }
+    else
+        return -1;
+
+    slen = MeasureGroupToString(msnap.Positions, buf, bufsize);
+    if (slen > 0)
+    {
+        bufsize -= slen;
+        buf += slen;
+    }
+    else
+        return -1;
+
+    slen = MeasureGroupToString(msnap.Loads, buf, bufsize);
+    if (slen > 0)
+    {
+        bufsize -= slen;
+        buf += slen;
+    }
+    else
+        return -1;
+
+    slen = MeasureGroupToString(msnap.Volts, buf, bufsize);
+    if (slen > 0)
+    {
+        bufsize -= slen;
+        buf += slen;
+    }
+    else
+        return -1;
+
+    // replace final ',' with '}'
+    *(buf - 1) = '}';
+    
+    return startlen - bufsize;
+}
+
+// try to serialize one or more measurement snapshots into the buffer
 // return bytes used / -1 if buffer too small / 0 if no data
 // current serialization is a json array of objects with time and array per measure
 // eg: [{ "time": "2016-01-23T14:55:02", "temp": [1, 2], "volt": [12.1, 12.2] }]
@@ -106,14 +176,9 @@
     bool hasdata = false;
     bool copydata = false;
     char* startbuf = buf;
-    bool settime = false;
     char* lastcomma = NULL;
     
-    time_t secs = 0;
-    // reserve 1 space for end
-    bufsize--;
-    
-    slen = sprintf_s(buf, bufsize, "[{");
+    slen = sprintf_s(buf, bufsize, "[");
     if (slen > 0)
     {
         bufsize -= slen;
@@ -125,28 +190,26 @@
     if (_hasPending)
     {
         hasdata = true;
-        secs = _pending.Created;
-        slen = AddTime(secs, buf, bufsize);
+        slen = MeasureSnapshotToString(_pending, buf, bufsize);
         if (slen > 0)
         {
             bufsize -= slen;
             buf += slen;
-            settime = true;
         }
         else
             return -1;          // no room for pending record
-
-        slen = MeasureGroupToString(_pending, buf, bufsize);
+        // add comma
+        slen = sprintf_s(buf, bufsize, ",");
         if (slen > 0)
         {
             bufsize -= slen;
             buf += slen;
-            lastcomma = buf;
-            _hasPending = false;
-            copydata = true;
         }
         else
-            return -1;          // no room for pending record
+            return -1;
+        lastcomma = buf;
+        _hasPending = false;
+        copydata = true;
     }
     
     while (!MeasureBuf.empty())
@@ -158,41 +221,26 @@
         hasdata = true;
         _hasPending = true;
         
-        if (secs != _pending.Created)
-        {
-            if (settime && lastcomma != NULL)
-            {
-                *(lastcomma - 1) = '}';
-                if (bufsize > 2)
-                {
-                    strcpy(buf, ",{");
-                    buf += 2;
-                    bufsize -= 2;
-                }
-            }
-            secs = _pending.Created;
-            slen = AddTime(secs, buf, bufsize);
-            if (slen > 0)
-            {
-                bufsize -= slen;
-                buf += slen;
-                settime = true;
-            }
-            else
-                break;
-        }
-        
-        slen = MeasureGroupToString(_pending, buf, bufsize);
+        slen = MeasureSnapshotToString(_pending, buf, bufsize);
         if (slen > 0)
         {
             bufsize -= slen;
             buf += slen;
-            lastcomma = buf;
-            _hasPending = false;
-            copydata = true;
         }
         else
             break;              // no room to serialize, leave pending for next message
+        // add comma
+        slen = sprintf_s(buf, bufsize, ",");
+        if (slen > 0)
+        {
+            bufsize -= slen;
+            buf += slen;
+        }
+        else
+            break;
+        _hasPending = false;
+        lastcomma = buf;
+        copydata = true;
     }
     
     if (!hasdata)
@@ -201,11 +249,8 @@
     if (!copydata)
         return -1;              // have data but buffer too small
 
-    // replace final ',' with '}'
-    *(lastcomma - 1) = '}';
-    // this is the extra space we reserved at the start.
-    *(lastcomma) = ']';
-    lastcomma++;
+    // replace final ',' with ']'
+    *(lastcomma - 1) = ']';
     
     return lastcomma - startbuf;
 }
@@ -247,7 +292,3 @@
     return startlen - bufsize;
 }
 
-bool IothubSerial::HasMeasureGroup()
-{
-    return _hasPending;
-}

--- a/IothubSerial.h	Tue Jan 19 20:18:23 2016 +0000
+++ b/IothubSerial.h	Fri Jan 22 01:35:07 2016 +0000
@@ -15,16 +15,16 @@
 public:
     IothubSerial();
     
-    int MeasureGroupToString(MeasureGroup& mg, char* buf, int bufsize);
-    
     int MeasureBufToString(char* buf, int bufsize);
 
     int AlertBufToString(char* buf, int bufsize);
-
-    bool HasMeasureGroup();
     
 private:
-    MeasureGroup _pending;
+    int MeasureGroupToString(MeasureGroup& mg, char* buf, int bufsize);
+    
+    int MeasureSnapshotToString(MeasureSnapshot& msnap, char* buf, int bufsize);
+    
+    MeasureSnapshot _pending;
     
     bool _hasPending;
     

--- a/MeasureBuf.cpp	Tue Jan 19 20:18:23 2016 +0000
+++ b/MeasureBuf.cpp	Fri Jan 22 01:35:07 2016 +0000
@@ -4,12 +4,11 @@
 
 
 
-SafeCircBuf<MeasureGroup, MeasureBufSize, uint32_t> MeasureBuf;
+SafeCircBuf<MeasureSnapshot, MeasureBufSize, uint32_t> MeasureBuf;
 
-void MeasureGroup::SetMeasure(NodeMeasure mId, time_t created, int numParts, float vals[])
+void MeasureGroup::SetMeasure(NodeMeasure mId, int numParts, float vals[])
 {
     MeasId = mId;
-    Created = created;
     
     NumVals = NUMJOINTS < numParts ? NUMJOINTS : numParts;
     
@@ -22,7 +21,6 @@
 MeasureGroup& MeasureGroup::operator=(const MeasureGroup& rhs)
 {
     MeasId = rhs.MeasId;
-    Created = rhs.Created;
     NumVals = rhs.NumVals;
     for (int ix = 0; ix < NUMJOINTS; ix++)
     {

--- a/MeasureBuf.h	Tue Jan 19 20:18:23 2016 +0000
+++ b/MeasureBuf.h	Fri Jan 22 01:35:07 2016 +0000
@@ -20,17 +20,31 @@
     
     MeasureGroup& operator=(const MeasureGroup& rhs);
     
-    void SetMeasure(NodeMeasure mId, time_t created, int numParts, float vals[]);
+    void SetMeasure(NodeMeasure mId, int numParts, float vals[]);
     
     NodeMeasure MeasId;
     
     int NumVals;
     
     float MeasVals[NUMJOINTS];
+};
+
+class MeasureSnapshot
+{
+public:
+    MeasureSnapshot() {};
+    
+    MeasureGroup Temps;
+    
+    MeasureGroup Volts;
+    
+    MeasureGroup Loads;
+    
+    MeasureGroup Positions;
     
     time_t Created;
 };
 
-extern SafeCircBuf<MeasureGroup, MeasureBufSize, uint32_t> MeasureBuf;
+extern SafeCircBuf<MeasureSnapshot, MeasureBufSize, uint32_t> MeasureBuf;
 
 #endif
\ No newline at end of file