From c61a23e921f4024418a2569e061073da036ca636 Mon Sep 17 00:00:00 2001
From: Sebastian Huber <sebastian.huber@phys.ethz.ch>
Date: Thu, 20 Mar 2025 09:19:16 +0100
Subject: [PATCH] Changed flushing and send size of different vector for
logging
---
.../drivers/communicator/communicator.cpp | 29 +++++++------------
1 file changed, 11 insertions(+), 18 deletions(-)
diff --git a/firmware/drivers/communicator/communicator.cpp b/firmware/drivers/communicator/communicator.cpp
index bc4f33b..1fdde41 100644
--- a/firmware/drivers/communicator/communicator.cpp
+++ b/firmware/drivers/communicator/communicator.cpp
@@ -22,6 +22,13 @@ std::vector<char> Communicator::arg_ = std::vector<char>(256, '\0'); //arguments
unsigned long Communicator::last_transaction_ms_ = 0u; //time of last transaction
unsigned long Communicator::interval_assume_eow_ms_ = 1800000u; //no transaction for 30 minutes means we shut down
+extern "C" char *sbrk(int i);
+double checkFreeMemory() {
+ char stack_dummy = 0;
+ return static_cast<double>(&stack_dummy - sbrk(0));
+}
+
+
bool Communicator::communicate(){
if(!serialCharAvailable_()){ //no communication
if(msElapsedSinceLastTransaction_() > interval_assume_eow_ms_){
@@ -55,18 +62,15 @@ bool Communicator::communicate(){
}
if(PTimer::elapsed() >= timeout_us_){
handleTimeout_(); //timeout
- flushSerialBuffer_();
return false;
}
else if(i >= arg_.size()-10){
handleInputOverflow_(); //input overflow
- flushSerialBuffer_();
return false;
}
//apply the setting
else{
handleSetCommand_();
- flushSerialBuffer_();
return true;
}
}
@@ -74,15 +78,15 @@ bool Communicator::communicate(){
if(cmd_ == 't'){ //getTemperature
snprintf( outbuf_,
255,
- "%f,%f,%f,%f,%f;",
+ "%f,%f,%f,%f,%f,%f;",
Temperatures::temperatures[0],
Temperatures::temperatures[1],
Temperatures::temperatures[2],
Temperatures::temperatures[3],
- Temperatures::temperatures[4]
+ Temperatures::temperatures[4],
+ Communicator::arg_.capacity()
);
sendBuf_();
- flushSerialBuffer_();
return true;
}
else if(cmd_ == 'p'){ //getPidCoeff
@@ -95,7 +99,6 @@ bool Communicator::communicate(){
kpids[2]
);
sendBuf_();
- flushSerialBuffer_();
return true;
}
else if(cmd_ == 'v'){ //getPropIntDer
@@ -108,35 +111,29 @@ bool Communicator::communicate(){
pids[2]
);
sendBuf_();
- flushSerialBuffer_();
return true;
}
else if(cmd_ == 'o'){ //getOutput
snprintf(outbuf_, 255, "%f;", Pid_controller::get_output());
sendBuf_();
- flushSerialBuffer_();
return true;
}
else if(cmd_ == 's'){ //getSetpoint
snprintf(outbuf_, 255, "%f;", Pid_controller::get_setpoint());
sendBuf_();
- flushSerialBuffer_();
return true;
}
else{ //invalid command
handleInvalidCommand_();
- flushSerialBuffer_();
return false;
}
}
else if(isNopCommand_()){
handleNopCommand_();
- flushSerialBuffer_();
return true;
}
else{ //invalid command
handleInvalidCommand_();
- flushSerialBuffer_();
return false;
}
}
@@ -179,6 +176,7 @@ char Communicator::getSerialChar_(){
void Communicator::sendBuf_(){
SERCHAN.write(outbuf_);
+ SERCHAN.flush();
}
void Communicator::handleTimeout_(){
@@ -257,8 +255,3 @@ unsigned long Communicator::msElapsedSinceLastTransaction_(){
}
-void Communicator::flushSerialBuffer_(){
- while (SERCHAN.available()) {
- SERCHAN.read(); // Dump any remaining data
- }
-}
\ No newline at end of file
--
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