void SensorDashboard::refreshData()
{
uint from = mPeriodFrom->dateTime().toTime_t();
uint to = mPeriodTo->dateTime().toTime_t();
emit getSensorData(from, to);
}
String SensorDht22::get(void) {
getSensorData();
String message = "";
message += "\"" + humidity_instruction_ + "\":{" + id_ + "," + humidity_ + "},";
message += temperature_instruction_ + "\":{" + id_ + "," + temperature_ + "},";
return message;
}
void LineSensor::update () {
int* temp;
temp = getSensorData();
for (int i = 0; i < sensors; ++i) {
current[i] = temp[i];
}
delete[] temp;
}
void loop() {
getSensorData();
screenPrinting();
if(networkManager.isConnected())
{
unsigned long currentMillis = millis();
if(currentMillis > prievous + updateFeedInterval) {
networkManager.updateFeed(temperature, 0, pressure, lightLevel);
prievous = currentMillis;
}
}
delay(500);
}
String SensorDs18b20::get(void) {
// Get PH, Temperature, & EC Data
getSensorData();
// Initialize Message
String message = "";
// Append Temperature
message += "\"";
message += temperature_instruction_code_;
message += " ";
message += temperature_id_;
message += "\":";
message += String(temperature_filtered,1);
message += ",";
// Return Message
return message;
}
/**
* This function updates the arrays current and lastSeen.
* lastSeen will only be overwritten if current has at least one true.
*
* @author Blake Lasky
*
* @param current current line data array
* @param lastSeen reading data from last time we got at least one true reading
* @param pinSpots pins corresponding to the previous two data arrays
* @param arraySize size of the previous three arrays
*/
void LineSensor::update () {
int* temp;
temp = getSensorData();
if ( hasOneTrue() ) {
// shifts data from current to lastSeen and from temp to current
for (int i = 0; i < sensors; ++i) {
lastSeen[i] = current[i];
current[i] = temp[i];
}
} else {
//overwrites current with temp; does not affect lastSeen
for (int i = 0; i < sensors; ++i) {
current[i] = temp[i];
}
}
delete[] temp;
}
String SensorGc0011::get(void) {
// Get Sensor Data
getSensorData();
// Initialize Message
String message = "";
// Append CO2 Data to Message
message += "\"";
message += co2_instruction_code_;
message += " ";
message += co2_instruction_id_;
message += "\":";
message += String(co2,0);
message += ",";
// Append Temperature Data to Message
message += "\"";
message += temperature_instruction_code_;
message += " ";
message += temperature_instruction_id_;
message += "\":";
message += String(temperature, 1);
message += ",";
// Append Humidity Data to Message
message += "\"";
message += humidity_instruction_code_;
message += " ";
message += humidity_instruction_id_;
message += "\":";
message += String(humidity, 1);
message += ",";
return message;
}
void GUIServer::run() {
if (receiveCommand()) {
m_UdpServer.beginPacket(m_UdpServer.remoteIP(),
m_UdpServer.remotePort());
m_UdpServer.write(m_Buffer[1]);
m_UdpServer.write(m_Buffer[0]);
Serial.print(F("Request ID: "));
Serial.println(m_Buffer[0]);
Serial.print(F("Method ID: "));
Serial.println(m_Buffer[1]);
Serial.print(F("value: "));
Serial.println(m_Buffer[2]);
switch (m_Buffer[1]) {
case GETVERSION:
m_UdpServer.write((uint8_t) 0);
m_UdpServer.write(1);
break;
case GETALLSENSORS:
getAllSensors();
break;
case GETSENSORDATA:
getSensorData(m_Buffer[2]);
break;
case SETSENSORCONFIG:
switch (m_Buffer[3]) {
case 1:
break;
case 2:
setSensorConfig(m_Buffer[2], m_Buffer[3], (char*) &m_Buffer[4]);
break;
case 3:
setSensorConfig(m_Buffer[2], m_Buffer[3], (char*) &m_Buffer[4]);
break;
case 4:
setSensorConfig(m_Buffer[2], m_Buffer[3],
(uint8_t) m_Buffer[4]);
break;
case 5:
setSensorConfig(m_Buffer[2], m_Buffer[3],
(uint8_t) m_Buffer[4]);
break;
}
break;
case GETALLACTUATORS:
getAllActuators();
break;
case GETACTUATORDATA:
getActuatorData(m_Buffer[2]);
break;
case SETACTUATORDATA:
switch (m_Buffer[3]) {
case 1:
case 3:
case 4:
case 5:
case 6:
setActuatorData(m_Buffer[2], m_Buffer[3],
(uint8_t) m_Buffer[4]);
break;
case 2:
setActuatorData(m_Buffer[2], m_Buffer[3], (char*) m_Buffer[4]);
}
break;
case SETACTUATORCONFIG:
switch (m_Buffer[3]) {
case 1:
break;
case 2:
setActuatorConfig(m_Buffer[2], m_Buffer[3],
(char*) &m_Buffer[4]);
break;
case 3:
break;
case 4:
break;
case 5:
break;
}
break;
case GETCLOCKTIMERS:
getClockTimers(m_Buffer[2]);
break;
default:
break;
}
m_UdpServer.endPacket();
}
}
/*
* Main Task
*/
void MainTask(void* pdata) {
// int frameDone = 0; // RC required
printf("Starting Main task...\n");
int16_t avgSensorData[9] = { 0 }; //Order: ACC- GYR - COMP
uint32_t averagedDataDeltaT = 0;
float filteredSensorData[9] = { 0 }; //Order: ACC- GYR - COMP
int16_t rcValues[8];
INT8U os_err = OS_ERR_NONE;
uint8_t data_err = NO_ERR;
struct logData* loggData = malloc(sizeof(struct logData));
while (1) {
//Semaphore for periodic task
OSSemPend(mainTaskSem, 0, &os_err);
//Sensor Test
if (SDM_NEW_DATA_AVAILABLE == 1) {
os_err = getSensorData(avgSensorData, &averagedDataDeltaT);
data_err = filterSensorData(avgSensorData, filteredSensorData, averagedDataDeltaT); //only filter new data
}
if (RC_RECEIVER_NEW_DATA_AVAILABLE == 1 ){
getRCvalues(rcValues); //new rc commands will be copied in local array
printf("THROTTLE: %d\tROLL: %d\tYAW: %d\tPITCH: %d\n", rcValues[RC_THROTTLE_INDEX], rcValues[RC_ROLL_INDEX], rcValues[RC_YAW_INDEX], rcValues[RC_PITCH_INDEX]);
}
//assuming X axis from Filter is PITCH
float pidPITCHMidVal = PIDPitchCalculation(rcValues[RC_PITCH_INDEX], (float) filteredSensorData[EULER_PITCH_INDEX]);
//assuming X axis from Filter is ROLL
float pidROLLMidVal = PIDRollCalculation(rcValues[RC_ROLL_INDEX], (float) filteredSensorData[EULER_ROLL_INDEX]);
//assuming X axis from Filter is YAW
float pidYAWMidVal = PIDYawCalculation(rcValues[RC_YAW_INDEX], (float) filteredSensorData[EULER_YAW_INDEX]);
// printf("PITCH: %f\tROLL: %f\tYAW: %f\n", pidPITCHMidVal, pidROLLMidVal, pidYAWMidVal); //debug print
mapToMotors(rcValues[RC_THROTTLE_INDEX], pidROLLMidVal, pidPITCHMidVal, pidYAWMidVal);
//TODO Copy new Data to Struct for logging
// int i;
// for (i = 0; i < 9; ++i) { //copy logging data to txStruct
// loggData->raw[i] = avgSensorData[i];
// loggData->filter[i] = filteredSensorData[i];
// }
//
// loggData->pid[0] = pidPITCHMidVal;
// loggData->pid[1] = pidROLLMidVal;
// loggData->pid[2] = pidYAWMidVal;
//
// int j;
// for (j = 0; j < 8; ++j) {
// loggData->rawRadio[i] = rcValues[i];
// }
// OSQPost(loggerQsem, (void*) loggData);
}
}
