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Merged
merged 1 commit into from
Mar 10, 2023
Merged

Add machine readable serial formatting #233

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28 changes: 28 additions & 0 deletions src/common/base_classes/FOCMotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -94,16 +94,28 @@ void FOCMotor::monitor() {
bool printed = 0;

if(monitor_variables & _MON_TARGET){
if (monitor_prepend_id && !printed) {
monitor_port->print(monitor_prepend_id);
monitor_port->print("M");
}
monitor_port->print(target,4);
monitor_port->print("\t");
printed= true;
}
if(monitor_variables & _MON_VOLT_Q) {
if (monitor_prepend_id && !printed) {
monitor_port->print(monitor_prepend_id);
monitor_port->print("M");
}
monitor_port->print(voltage.q,4);
monitor_port->print("\t");
printed= true;
}
if(monitor_variables & _MON_VOLT_D) {
if (monitor_prepend_id && !printed) {
monitor_port->print(monitor_prepend_id);
monitor_port->print("M");
}
monitor_port->print(voltage.d,4);
monitor_port->print("\t");
printed= true;
Expand All @@ -117,23 +129,39 @@ void FOCMotor::monitor() {
c.d = LPF_current_d(c.d);
}
if(monitor_variables & _MON_CURR_Q) {
if (monitor_prepend_id && !printed) {
monitor_port->print(monitor_prepend_id);
monitor_port->print("M");
}
monitor_port->print(c.q*1000, 2); // mAmps
monitor_port->print("\t");
printed= true;
}
if(monitor_variables & _MON_CURR_D) {
if (monitor_prepend_id && !printed) {
monitor_port->print(monitor_prepend_id);
monitor_port->print("M");
}
monitor_port->print(c.d*1000, 2); // mAmps
monitor_port->print("\t");
printed= true;
}
}

if(monitor_variables & _MON_VEL) {
if (monitor_prepend_id && !printed) {
monitor_port->print(monitor_prepend_id);
monitor_port->print("M");
}
monitor_port->print(shaft_velocity,4);
monitor_port->print("\t");
printed= true;
}
if(monitor_variables & _MON_ANGLE) {
if (monitor_prepend_id && !printed) {
monitor_port->print(monitor_prepend_id);
monitor_port->print("M");
}
monitor_port->print(shaft_angle,4);
printed= true;
}
Expand Down
57 changes: 51 additions & 6 deletions src/communication/Commander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@ void Commander::run(char* user_input){
switch(id){
case CMD_SCAN:
for(int i=0; i < call_count; i++){
printMachineReadable(F("?"));
print(call_ids[i]);
print(":");
if(call_label[i]) println(call_label[i]);
Expand All @@ -79,16 +80,21 @@ void Commander::run(char* user_input){
case VerboseMode::user_friendly:
println(F("on!"));
break;
case VerboseMode::machine_readable:
printlnMachineReadable(F("@3"));
break;
}
break;
case CMD_DECIMAL:
if(!isSentinel(user_input[1])) decimal_places = atoi(&user_input[1]);
printVerbose(F("Decimal:"));
printMachineReadable(F("#"));
println(decimal_places);
break;
default:
for(int i=0; i < call_count; i++){
if(id == call_ids[i]){
printMachineReadable(user_input[0]);
call_list[i](&user_input[1]);
break;
}
Expand All @@ -100,7 +106,7 @@ void Commander::run(char* user_input){
void Commander::motor(FOCMotor* motor, char* user_command) {

// if target setting
if(isDigit(user_command[0]) || user_command[0] == '-' || user_command[0] == '+'){
if(isDigit(user_command[0]) || user_command[0] == '-' || user_command[0] == '+' || isSentinel(user_command[0])){
target(motor, user_command);
return;
}
Expand All @@ -114,7 +120,10 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
bool GET = isSentinel(user_command[value_index]);
// parse command values
float value = atof(&user_command[value_index]);

printMachineReadable(cmd);
if (sub_cmd >= 'A' && sub_cmd <= 'Z') {
printMachineReadable(sub_cmd);
}

// a bit of optimisation of variable memory for Arduino UNO (atmega328)
switch(cmd){
Expand Down Expand Up @@ -313,9 +322,9 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
break;
case SCMD_SET:
if(!GET) motor->monitor_variables = (uint8_t) 0;
for(int i = 0; i < 7; i++){
for(int i = 0; i < 8; i++){
if(isSentinel(user_command[value_index+i])) break;
if(!GET) motor->monitor_variables |= (user_command[value_index+i] - '0') << (6-i);
if(!GET) motor->monitor_variables |= (user_command[value_index+i] - '0') << (7-i);
print( (user_command[value_index+i] - '0') );
}
println("");
Expand Down Expand Up @@ -468,8 +477,11 @@ void Commander::scalar(float* value, char* user_cmd){

void Commander::target(FOCMotor* motor, char* user_cmd, char* separator){
// if no values sent
if(isSentinel(user_cmd[0])) return;

if(isSentinel(user_cmd[0])) {
printlnMachineReadable(motor->target);
return;
};

float pos, vel, torque;
char* next_value;
switch(motor->controller){
Expand Down Expand Up @@ -614,6 +626,39 @@ void Commander::printVerbose(const char* message){
void Commander::printVerbose(const __FlashStringHelper *message){
if(verbose == VerboseMode::user_friendly) print(message);
}

void Commander::printMachineReadable(const int number){
if(verbose == VerboseMode::machine_readable) print(number);
}
void Commander::printMachineReadable(const float number){
if(verbose == VerboseMode::machine_readable) print(number);
}
void Commander::printMachineReadable(const char* message){
if(verbose == VerboseMode::machine_readable) print(message);
}
void Commander::printMachineReadable(const __FlashStringHelper *message){
if(verbose == VerboseMode::machine_readable) print(message);
}
void Commander::printMachineReadable(const char message){
if(verbose == VerboseMode::machine_readable) print(message);
}

void Commander::printlnMachineReadable(const int number){
if(verbose == VerboseMode::machine_readable) println(number);
}
void Commander::printlnMachineReadable(const float number){
if(verbose == VerboseMode::machine_readable) println(number);
}
void Commander::printlnMachineReadable(const char* message){
if(verbose == VerboseMode::machine_readable) println(message);
}
void Commander::printlnMachineReadable(const __FlashStringHelper *message){
if(verbose == VerboseMode::machine_readable) println(message);
}
void Commander::printlnMachineReadable(const char message){
if(verbose == VerboseMode::machine_readable) println(message);
}

void Commander::printError(){
println(F("err"));
}
16 changes: 15 additions & 1 deletion src/communication/Commander.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,8 @@
enum VerboseMode : uint8_t {
nothing = 0x00, // display nothing - good for monitoring
on_request = 0x01, // display only on user request
user_friendly = 0x02 // display textual messages to the user
user_friendly = 0x02, // display textual messages to the user
machine_readable = 0x03 // display machine readable commands, matching commands to set each settings
};


Expand Down Expand Up @@ -279,6 +280,19 @@ class Commander
void println(const __FlashStringHelper *message);
void println(const char message);

void printMachineReadable(const float number);
void printMachineReadable(const int number);
void printMachineReadable(const char* message);
void printMachineReadable(const __FlashStringHelper *message);
void printMachineReadable(const char message);

void printlnMachineReadable(const float number);
void printlnMachineReadable(const int number);
void printlnMachineReadable(const char* message);
void printlnMachineReadable(const __FlashStringHelper *message);
void printlnMachineReadable(const char message);


void printError();
bool isSentinel(char ch);
};
Expand Down