From 7b397967236727e0f0f83b4bf9852d6bd3f7d649 Mon Sep 17 00:00:00 2001
From: Pascal Engeler <engelerp@phys.ethz.ch>
Date: Fri, 9 Jun 2023 23:31:26 +0200
Subject: [PATCH] Added communicator library
---
.../drivers/communicator/communicator.cpp | 207 ++++++++++++++++++
.../drivers/communicator/communicator.hpp | 35 +++
2 files changed, 242 insertions(+)
create mode 100644 firmware/drivers/communicator/communicator.cpp
create mode 100644 firmware/drivers/communicator/communicator.hpp
diff --git a/firmware/drivers/communicator/communicator.cpp b/firmware/drivers/communicator/communicator.cpp
new file mode 100644
index 0000000..df399f3
--- /dev/null
+++ b/firmware/drivers/communicator/communicator.cpp
@@ -0,0 +1,207 @@
+#include <communicator.cpp>
+#include <utility.hpp>
+#include <ptimer.hpp>
+#include <pid_controller.hpp>
+
+unsigned long Communicator::timeout_us_ = 20000; //timeout 20ms
+char Communicator::outbuf[256]; //out buffer
+char Communicator::cmd_ = 'X'; //command received
+std::vector<char> Communicator::arg_ = std::vector<char>('\0',256); //arguments received
+
+bool Communicator::communicate(){
+ if(!serialCharAvailable_()){
+ return false;
+ }
+ else{
+ cmd_ = getSerialChar_();
+ if(isSetCommand_()){
+ //read argument
+ char latest = cmd;
+ size_t i = 0;
+ PTimer::start();
+ while(latest != ';' && i < arg_.size()-10 && PTimer::elapsed() < timeout_us_){
+ if(serialCharAvailable_()){
+ latest = getSerialChar_();
+ arg_[i++] = latest;
+ if(latest == ';'){
+ arg[i-1] = '\0';
+ }
+ PTimer::start();
+ }
+ }
+ if(PTimer::elapsed() >= timeout_us_){
+ handleTimeout_(); //timeout
+ return false;
+ }
+ else if(i >= arg_.size()-10){
+ handleInputOverflow_(); //input overflow
+ return false;
+ }
+ //apply the setting
+ else{
+ handleSetCommand_();
+ return true;
+ }
+ }
+ else if(isGetCommand_()){
+ if(cmd_ == 't'){ //getTemperature
+ snprintf( outbuf_,
+ 255,
+ "%f,%f,%f,%f,%f;",
+ Temperatures.temperatures[0],
+ Temperatures.temperatures[1],
+ Temperatures.temperatures[2],
+ Temperatures.temperatures[3],
+ Temperatures.temperatures[4]
+ );
+ sendBuf_();
+ return true;
+ }
+ else if(cmd_ == 'p'){ //getPidCoeff
+ auto kpids = Pid_controller::get_kpid();
+ snprintf( outbuf_,
+ 255,
+ "%f,%f,%f;",
+ kpids[0],
+ kpids[1],
+ kpids[2]
+ );
+ sendBuf_();
+ return true;
+ }
+ else if(cmd_ == 'v'){ //getPropIntDer
+ auto pids = Pid_controller::get_pid();
+ snprintf( outbuf_,
+ 255,
+ "%f,%f,%f;",
+ pids[0],
+ pids[1],
+ pids[2]
+ );
+ sendBuf_();
+ return true;
+ }
+ else if(cmd_ == 'o'){ //getOutput
+ snprintf(outbuf_, 255, "%f;", Pid_controller::get_output());
+ sendBuf_();
+ return true;
+ }
+ else if(cmd_ == 's'){ //getSetpoint
+ snprintf(outbuf_, 255, "%f;", Pid_controller::get_setpoint());
+ sendBuf_();
+ return true;
+ }
+ else{ //invalid command
+ handleInvalidCommand_();
+ return false;
+ }
+ }
+ else if(isNopCommand_()){
+ handleNopCommand_();
+ return true;
+ }
+ else{ //invalid command
+ handleInvalidCommand_();
+ return false;
+ }
+ }
+}
+
+bool Communicator::serialCharAvailable_() const{
+ return SERCHAN.available() > 0;
+}
+
+bool Communicator::isSetCommand_() const{
+ return cmd_ == 'P' ||
+ cmd_ == 'I' ||
+ cmd_ == 'D' ||
+ cmd_ == 'N' ||
+ cmd_ == 'S';
+}
+
+bool Communicator::isGetCommand_() const{
+ return cmd_ == 't' ||
+ cmd_ == 'p' ||
+ cmd_ == 'v' ||
+ cmd_ == 'o' ||
+ cmd_ == 's';
+}
+
+bool Communicator::isNopCommand_() const{
+ return cmd_ == '?';
+}
+
+char Communicator::getSerialChar_() const{
+ int newChar = SERCHAN.read();
+ if(newChar < 0 || newChar >= 128){//invalid char
+ return 'X';
+ }
+ else{
+ return char(newChar);
+ }
+}
+
+void Communicator::sendBuf_() const{
+ SERCHAN.write(outbuf_);
+}
+
+void Communicator::handleTimeout_() const{
+ snprintf(outbuf_, 255, "!");
+ sendBuf_();
+}
+
+void Communicator::handleInputOverflow_() const{
+ snprintf(outbuf_, 255, "!");
+ sendBuf_();
+}
+
+void Communicator::handleSetCommand_() const{
+ char* endptr = arg_.data()+250;
+ double darg = std::strtod(arg_.data(), &endptr);
+ if(arg_.data() == endptr){ //error
+ handleInvalidCommand_();
+ return;
+ }
+ else if(cmd_ == 'P'){
+ Pid_controller::set_Kp(darg);
+ snprintf(outbuf_, 255, ";");
+ sendBuf_();
+ return;
+ }
+ else if(cmd_ == 'I'){
+ Pid_controller::set_Ki(darg);
+ snprintf(outbuf_, 255, ";");
+ sendBuf_();
+ return;
+ }
+ else if(cmd_ == 'D'){
+ Pid_controller::set_Kd(darg);
+ snprintf(outbuf_, 255, ";");
+ sendBuf_();
+ return;
+ }
+ else if(cmd_ == 'N'){
+ Pid_controller::set_I_reset(darg);
+ snprintf(outbuf_, 255, ";");
+ sendBuf_();
+ return;
+ }
+ else if(cmd_ == 'S'){
+ Pid_controller::set_setpoint(darg);
+ snprintf(outbuf_, 255, ";");
+ sendBuf_();
+ return;
+ }
+}
+
+void Communicator::handleNopCommand_() const{
+ snprintf(outbuf_, 255, ";");
+ sendBuf_();
+ return;
+}
+
+void Communicator::handleInvalidCommand_() const{
+ snprintf(outbuf_, 255, "!");
+ sendBuf_();
+ return;
+}
diff --git a/firmware/drivers/communicator/communicator.hpp b/firmware/drivers/communicator/communicator.hpp
new file mode 100644
index 0000000..ec2e69d
--- /dev/null
+++ b/firmware/drivers/communicator/communicator.hpp
@@ -0,0 +1,35 @@
+#ifndef COMMUNICATOR_HPP_INCLUDED
+#define COMMUNICATOR_HPP_INCLUDED
+#include <vector>
+
+#define SERCHAN SerialUSB
+
+class Communicator{
+public:
+ static bool communicate();
+
+private:
+ /*Function Members*/
+ static bool serialCharAvailable_() const;
+ static bool isSetCommand_() const;
+ static bool isGetCommand_() const;
+ static bool isNopCommand_() const;
+
+ static char getSerialChar_() const;
+ static void sendBuf_() const;
+
+ static void handleTimeout_();
+ static void handleInputOverflow_();
+ static void handleSetCommand_();
+ static void handleNopCommand_();
+ static void handleInvalidCommand_();
+
+
+ /*Data Members*/
+ static unsigned long timeout_us_;
+ static char outbuf_[256];
+ static char cmd_;
+ static std::vector<char> arg_;
+}
+
+#endif
--
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