Revision 29:cb2f55fbfe9c, committed 2018-12-22

Comitter:

shimniok

Date:

Sat Dec 22 20:28:52 2018 +0000

Parent:

28:eab1b0680bb2

Child:

30:ed791f1f7f7d

Commit message:

Updates to shell. Implemented eventqueue-based data logging for gps. added start/stop/enabled functions to Logger and shell commands to start/stop/status logging

Changed in this revision

--- a/Logger.cpp	Sat Dec 22 06:56:55 2018 +0000
+++ b/Logger.cpp	Sat Dec 22 20:28:52 2018 +0000
@@ -2,37 +2,43 @@
 
 Logger::Logger(const char *file) {
     _file = file;
+    _fp = NULL;
+}
+
+
+void Logger::start() {
+    if (_fp == NULL) _fp = fopen(_file, "a");
+}
+
+
+void Logger::stop() {
+    if (_fp && fclose(_fp) != EOF) {
+        _fp = NULL;
+    }
+}
+
+
+bool Logger::enabled() {
+    return (_fp != NULL);
 }
 
 
 void Logger::log_gps(GpsData gd) {
-    _open();
-    fprintf(_fp, "G,%3.7f,%3.7f,%3.1f,%2.1f,%2.1f,%d\n",
-        gd.latitude, 
-        gd.longitude,
-        gd.course,
-        gd.speed,
-        gd.hdop,
-        gd.svcount
-    );
-    _close();
+    if (enabled()) {
+        fprintf(_fp, "G,%llu,%3.9f,%3.9f,%3.1f,%2.1f,%2.1f,%d\n",
+            Kernel::get_ms_count(),
+            gd.latitude, 
+            gd.longitude,
+            gd.course,
+            gd.speed,
+            gd.hdop,
+            gd.svcount
+        );
+    }
 }
 
 
 void Logger::log_estimation() {
-    _open();
-    
-    _close();
-}
-
-
-void Logger::_open() {
-    _fp = fopen(_file, "a");
-}
-
-
-void Logger::_close() {
-    if (_fp) {
-        fclose(_fp);
+    if (enabled()) {
     }
 }
\ No newline at end of file

--- a/Logger.h	Sat Dec 22 06:56:55 2018 +0000
+++ b/Logger.h	Sat Dec 22 20:28:52 2018 +0000
@@ -7,14 +7,15 @@
 class Logger {
 public:
     Logger(const char *file);
+    void start();
+    void stop();
+    bool enabled();
     void log_gps(GpsData gd);
     void log_estimation();
 
 private:
     const char *_file;
     FILE *_fp;
-    void _open();
-    void _close();
 };
 
 #endif
\ No newline at end of file

--- a/SimpleShell.lib	Sat Dec 22 06:56:55 2018 +0000
+++ b/SimpleShell.lib	Sat Dec 22 20:28:52 2018 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/shimniok/code/SimpleShell/#2b5ed529ab37
+https://os.mbed.com/users/shimniok/code/SimpleShell/#bf5f5ea4e762

--- a/SystemState.h	Sat Dec 22 06:56:55 2018 +0000
+++ b/SystemState.h	Sat Dec 22 20:28:52 2018 +0000
@@ -53,6 +53,7 @@
  */
 
 typedef struct {
+    float dt;
     double latitude;
     double longitude;
     float course;

--- a/main.cpp	Sat Dec 22 06:56:55 2018 +0000
+++ b/main.cpp	Sat Dec 22 20:28:52 2018 +0000
@@ -42,9 +42,8 @@
 
 ///////////////////////////////////////////////////////////////////////////////
 // Logging
-EventQueue logQueue(8 * EVENTS_EVENT_SIZE);
-Logger logger("/etc/test.log");
-
+EventQueue logQueue(16 * EVENTS_EVENT_SIZE);
+Logger logger("/log/test.csv");
 
 ///////////////////////////////////////////////////////////////////////////////
 // Updater
@@ -66,9 +65,9 @@
     
     led2 = !led2;
     ublox.read(d.latitude, d.longitude, d.course, d.speed, d.hdop, d.svcount);   
-    //logQueue.call(&logger, &Logger::log_gps, d);
+    logQueue.call(&logger, &Logger::log_gps, d);
 }
-    
+
 // ISR for GPS serial, passes off to thread
 void gps_handler() {
     while (s.readable()) {
@@ -125,6 +124,31 @@
     printf("Encoder: %d\n", u->encoder());
 }
 
+void log(int argc, char **argv)
+{
+    char *usage = "usage: log [start|stop]";
+    
+    if (argc == 1) {
+        printf("logging ");
+        if (logger.enabled())
+            printf("enabled");
+        else
+            printf("disabled");
+        printf("\n");
+    } else if (argc == 2) {
+        if (!strcmp("start", argv[1])) {
+            logger.start();
+        } else if (!strcmp("stop", argv[1])) {
+            logger.stop();
+        } else {
+            puts(usage);
+        }
+    } else {
+        puts(usage);
+    }
+}
+
+
 void bridge_uart1(int argc, char **argv) {
     RawSerial s(UART1TX, UART1RX, 38400);
     while (1) {
@@ -185,13 +209,13 @@
     updaterThread.start(callback(&updaterQueue, &EventQueue::dispatch_forever));
     
     printf("Starting gps...\n");
-    Thread gpsThread(osPriorityHigh, 256, 0, "gps");
+    Thread gpsThread(osPriorityHigh, 2048, 0, "gps");
     gpsThread.start(callback(&gpsQueue, &EventQueue::dispatch_forever));
     ublox.subscribe(gps_callback);
     s.attach(gps_handler);
     
     printf("Starting logging...\n");    
-    Thread logThread(osPriorityNormal, 256, 0, "log");
+    Thread logThread(osPriorityNormal, 2048, 0, "log");
     logThread.start(callback(&logQueue, &EventQueue::dispatch_forever));
 
     printf("Starting shell...\n");
@@ -201,6 +225,7 @@
     sh.attach(read_gps, "gps");
     sh.attach(reset, "reset");
     sh.attach(stats, "stats");
+    sh.attach(log, "log");
     sh.run();
     
     while (true) {