Colin Stearns / Mbed 2 deprecated qcControl

QC Control software

Dependencies:   mbed

Fork of dgps by Colin Stearns

packet.h@14:6be57da62283, 2014-04-10 (annotated)

Committer:
dylanembed123
Date:
Thu Apr 10 02:19:07 2014 +0000
Revision:
14:6be57da62283
Parent:
13:a6d3cf2b018e
Child:
15:e3e03a9df89e
Update GPS;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dylanembed123 12:e42985e3ea64 1 #define PACKETSIZE 256
dylanembed123 12:e42985e3ea64 2
dylanembed123 12:e42985e3ea64 3 // Example
dylanembed123 12:e42985e3ea64 4 // Packet 1. (SuperPackid=5,type=PT_IMAGE,size=0)
dylanembed123 12:e42985e3ea64 5 // Packet 2. (SuperPackid=5,type=PT_DEFAULT,size=1024)
dylanembed123 12:e42985e3ea64 6 // Packet 3. (SuperPackid=5,type=PT_DEFAULT,size=1000)
dylanembed123 12:e42985e3ea64 7 // Packet 4. (SuperPackid=5,type=PT_END,size=0)
dylanembed123 14:6be57da62283 8 //#define XBEEON
dylanembed123 12:e42985e3ea64 9 enum PACKET_TYPE{
dylanembed123 14:6be57da62283 10 PT_EMPTY=0,
dylanembed123 14:6be57da62283 11 PT_DEFAULT,
dylanembed123 12:e42985e3ea64 12 PT_END,
dylanembed123 12:e42985e3ea64 13 PT_IMAGE,
dylanembed123 12:e42985e3ea64 14 PT_SIZE
dylanembed123 12:e42985e3ea64 15 };
dylanembed123 12:e42985e3ea64 16 typedef struct PacketStruct{
dylanembed123 13:a6d3cf2b018e 17 unsigned int type;
dylanembed123 12:e42985e3ea64 18 unsigned int size;// Number of valid bits
dylanembed123 12:e42985e3ea64 19 char data[PACKETSIZE];
dylanembed123 12:e42985e3ea64 20 unsigned int superPackID;//
dylanembed123 14:6be57da62283 21 char special[4];// Set to FF when
dylanembed123 12:e42985e3ea64 22 }PacketStruct;
dylanembed123 12:e42985e3ea64 23
dylanembed123 12:e42985e3ea64 24 class PacketSender{
dylanembed123 12:e42985e3ea64 25 private:
dylanembed123 12:e42985e3ea64 26 unsigned int superID;
dylanembed123 12:e42985e3ea64 27 public:
dylanembed123 12:e42985e3ea64 28 unsigned int getSuperID(){return superID++;}
dylanembed123 13:a6d3cf2b018e 29 PacketSender():superID(0),outputDevice(
dylanembed123 13:a6d3cf2b018e 30 #ifdef XBEEON
dylanembed123 13:a6d3cf2b018e 31 XBEE::getSerial()
dylanembed123 13:a6d3cf2b018e 32 #else
dylanembed123 13:a6d3cf2b018e 33 USB::getSerial()
dylanembed123 13:a6d3cf2b018e 34 #endif
dylanembed123 14:6be57da62283 35 ),next(NULL){}
dylanembed123 12:e42985e3ea64 36 Serial& outputDevice;
dylanembed123 12:e42985e3ea64 37 void sendPacket(PacketStruct& output){
dylanembed123 12:e42985e3ea64 38 for(int a=0;a<sizeof(PacketStruct);a++){
dylanembed123 14:6be57da62283 39 while(!outputDevice.writeable()){}
dylanembed123 12:e42985e3ea64 40 outputDevice.putc(((char*)(&output))[a]);
dylanembed123 14:6be57da62283 41 //wait_ms(10);
dylanembed123 13:a6d3cf2b018e 42 //USB::getSerial().putc(((char*)(&output))[a]);
dylanembed123 12:e42985e3ea64 43 }
dylanembed123 14:6be57da62283 44 //wait_ms(100);
dylanembed123 12:e42985e3ea64 45 }
dylanembed123 12:e42985e3ea64 46 unsigned int min(unsigned int a,unsigned int b){
dylanembed123 12:e42985e3ea64 47 return a<b ? a : b;
dylanembed123 12:e42985e3ea64 48 }
dylanembed123 12:e42985e3ea64 49 void sendPacket(unsigned int superPackID,char* data,unsigned int size,PACKET_TYPE type = PT_END){
dylanembed123 12:e42985e3ea64 50 if(data!=NULL && size>0){
dylanembed123 13:a6d3cf2b018e 51 for(int i=0;i<=(size-1)/PACKETSIZE;i++){
dylanembed123 12:e42985e3ea64 52 PacketStruct output;
dylanembed123 12:e42985e3ea64 53 output.type=PT_DEFAULT;
dylanembed123 12:e42985e3ea64 54 output.superPackID=superPackID;
dylanembed123 12:e42985e3ea64 55 output.size=min(PACKETSIZE,size-i*PACKETSIZE);
dylanembed123 14:6be57da62283 56 for(int a=0;a<4;a++){output.special[a]='\0';}output.special[3]=0xAA;
dylanembed123 14:6be57da62283 57 for(int a=0;a<output.size;a++){output.data[a]=data[a-i*PACKETSIZE];}
dylanembed123 13:a6d3cf2b018e 58 for(int a=output.size;a<PACKETSIZE;a++){output.data[a]='\0';}
dylanembed123 12:e42985e3ea64 59 sendPacket(output);
dylanembed123 12:e42985e3ea64 60 }
dylanembed123 12:e42985e3ea64 61 }else{
dylanembed123 12:e42985e3ea64 62 PacketStruct output;
dylanembed123 12:e42985e3ea64 63 output.type=type;
dylanembed123 13:a6d3cf2b018e 64 output.size=0;
dylanembed123 12:e42985e3ea64 65 output.superPackID=superPackID;
dylanembed123 14:6be57da62283 66 for(int a=0;a<4;a++){output.special[a]='\0';}output.special[3]=0xAA;
dylanembed123 14:6be57da62283 67 // Check for empty packet
dylanembed123 14:6be57da62283 68 if(output.type==PT_EMPTY){output.type=0;output.size=0;output.superPackID=0;output.special[3]=0xFF;}
dylanembed123 14:6be57da62283 69 for(int a=0;a<PACKETSIZE;a++){output.data[a]='\0';}
dylanembed123 12:e42985e3ea64 70 sendPacket(output);
dylanembed123 12:e42985e3ea64 71 }
dylanembed123 12:e42985e3ea64 72 }
dylanembed123 14:6be57da62283 73
dylanembed123 14:6be57da62283 74 // Number of consecutive zeros
dylanembed123 14:6be57da62283 75 unsigned int numZeros;
dylanembed123 14:6be57da62283 76 // Return true if a resync command has been received
dylanembed123 14:6be57da62283 77 bool resetCheck(char input){
dylanembed123 14:6be57da62283 78 if(input=='\0'){
dylanembed123 14:6be57da62283 79 numZeros++;
dylanembed123 14:6be57da62283 80 }else if(numZeros==sizeof(PacketStruct)-1&&input==0xFF){
dylanembed123 14:6be57da62283 81 return true;
dylanembed123 14:6be57da62283 82 }else{
dylanembed123 14:6be57da62283 83 numZeros=0;
dylanembed123 14:6be57da62283 84 }
dylanembed123 14:6be57da62283 85 return false;
dylanembed123 14:6be57da62283 86 }
dylanembed123 14:6be57da62283 87
dylanembed123 14:6be57da62283 88 // Temperary storage for next valid
dylanembed123 14:6be57da62283 89 PacketStruct* next;
dylanembed123 14:6be57da62283 90 // Number of valid bits in next packet
dylanembed123 14:6be57da62283 91 int nextValid;
dylanembed123 14:6be57da62283 92 /// \brief Grab the next packet
dylanembed123 12:e42985e3ea64 93 PacketStruct* getNextPacket(){
dylanembed123 14:6be57da62283 94 // Check for null packet
dylanembed123 14:6be57da62283 95 if(next==NULL){next=new PacketStruct();nextValid=0;}
dylanembed123 14:6be57da62283 96 // Create reset packet which resets on re-sync command
dylanembed123 14:6be57da62283 97 bool resetPacket=false;
dylanembed123 14:6be57da62283 98
dylanembed123 14:6be57da62283 99 // While there is data to read
dylanembed123 14:6be57da62283 100 while(0<outputDevice.readable()){
dylanembed123 14:6be57da62283 101 // Check if a full packet has been received
dylanembed123 14:6be57da62283 102 if(nextValid==sizeof(PacketStruct))break;
dylanembed123 14:6be57da62283 103 // Read in next char
dylanembed123 14:6be57da62283 104 char input=outputDevice.getc();
dylanembed123 14:6be57da62283 105 //USB::getSerial().printf("Read ByteC %X %X\n",nextValid,input);
dylanembed123 14:6be57da62283 106 // Check for valid char
dylanembed123 14:6be57da62283 107 if(resetCheck(input)){resetPacket=true;break;}
dylanembed123 14:6be57da62283 108 // Set char
dylanembed123 14:6be57da62283 109 ((char*)next)[nextValid++] = input;
dylanembed123 14:6be57da62283 110 }
dylanembed123 14:6be57da62283 111
dylanembed123 14:6be57da62283 112 if(nextValid==sizeof(PacketStruct)||resetPacket){
dylanembed123 14:6be57da62283 113 // Reset packet
dylanembed123 14:6be57da62283 114 PacketStruct* output=next;next=NULL;
dylanembed123 14:6be57da62283 115 // Return
dylanembed123 14:6be57da62283 116 return resetPacket?NULL:output;
dylanembed123 14:6be57da62283 117 }
dylanembed123 14:6be57da62283 118 return NULL;
dylanembed123 14:6be57da62283 119 /*
dylanembed123 12:e42985e3ea64 120 int avail = outputDevice.readable();
dylanembed123 12:e42985e3ea64 121 if(avail <= 0)return NULL;
dylanembed123 12:e42985e3ea64 122 PacketStruct* output=new PacketStruct();
dylanembed123 12:e42985e3ea64 123 for(int i=0;i<sizeof(PacketStruct);i++){
dylanembed123 12:e42985e3ea64 124 // Wait for byte
dylanembed123 12:e42985e3ea64 125 while(outputDevice.readable()<=0){}
dylanembed123 12:e42985e3ea64 126 ((char*)output)[i] = outputDevice.getc();
dylanembed123 12:e42985e3ea64 127 }
dylanembed123 12:e42985e3ea64 128 return output;
dylanembed123 14:6be57da62283 129 */
dylanembed123 12:e42985e3ea64 130 }
dylanembed123 12:e42985e3ea64 131
dylanembed123 12:e42985e3ea64 132 };
dylanembed123 12:e42985e3ea64 133 static PacketSender* ps=NULL;
dylanembed123 12:e42985e3ea64 134 static PacketSender& getPS(){
dylanembed123 12:e42985e3ea64 135 if(ps==NULL)ps=new PacketSender();
dylanembed123 12:e42985e3ea64 136 return *ps;
dylanembed123 12:e42985e3ea64 137 }