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It's entirely possible that the serialInterface reader is a tiny bit better, but I'm really not sure. :) Fixed bug with reading from middle of serial string on startup causing hang.

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This commit is contained in:
Philip Rosedale 2013-02-13 20:40:00 -08:00
parent 2446e80c6c
commit 12e4e15b21
1 changed files with 33 additions and 30 deletions
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63
interface/src/SerialInterface.cpp
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@ -17,7 +17,7 @@
#include "SerialInterface.h" #include "SerialInterface.h"
int serial_fd; int serial_fd;
const int MAX_BUFFER = 100; const int MAX_BUFFER = 255;
char serial_buffer[MAX_BUFFER]; char serial_buffer[MAX_BUFFER];
int serial_buffer_pos = 0; int serial_buffer_pos = 0;
int samples_total = 0; int samples_total = 0;
@ -64,6 +64,11 @@ int SerialInterface::init(char * portname, int baud)
lastMeasured[i] = 0; lastMeasured[i] = 0;
trailingAverage[i] = 0.0; trailingAverage[i] = 0.0;
} }
// Clear serial input buffer
for (int i = 1; i < MAX_BUFFER; i++) {
serial_buffer[i] = ' ';
}
return 0; // Init serial port was a success return 0; // Init serial port was a success
} }
@ -127,42 +132,40 @@ void SerialInterface::readData() {
// If the sensor rate is 100Hz, 0.001 will make the long term average a 10-second average // If the sensor rate is 100Hz, 0.001 will make the long term average a 10-second average
const float AVG_RATE[] = {0.01, 0.01, 0.01, 0.01, 0.01, 0.01}; const float AVG_RATE[] = {0.01, 0.01, 0.01, 0.01, 0.01, 0.01};
char bufchar[1]; char bufchar[1];
while (read(serial_fd, bufchar, 1) > 0)
while (read(serial_fd, &bufchar, 1) > 0)
{ {
//std::cout << bufchar[0];
serial_buffer[serial_buffer_pos] = bufchar[0]; serial_buffer[serial_buffer_pos] = bufchar[0];
serial_buffer_pos++; serial_buffer_pos++;
// Have we reached end of a line of input? // Have we reached end of a line of input?
if ((bufchar[0] == '\n') || (serial_buffer_pos >= MAX_BUFFER)) if ((bufchar[0] == '\n') || (serial_buffer_pos >= MAX_BUFFER))
{ {
// At end - Extract value from string to variables std::string serialLine(serial_buffer, serial_buffer_pos-1);
if (serial_buffer[0] != 'p') //std::cout << serialLine << "\n";
{ int spot;
// NOTE: This is stupid, need to rewrite to properly scan for NUM_CHANNELS + 2 //int channel = 0;
// std::string val;
sscanf(serial_buffer, "%d %d %d %d %d %d %d %d", for (int i = 0; i < NUM_CHANNELS + 2; i++) {
&lastMeasured[0], spot = serialLine.find_first_of(" ", 0);
&lastMeasured[1], if (spot != std::string::npos) {
&lastMeasured[2], val = serialLine.substr(0,spot);
&lastMeasured[3], //std::cout << val << "\n";
&lastMeasured[4], if (i < NUM_CHANNELS) lastMeasured[i] = atoi(val.c_str());
&lastMeasured[5], else samplesAveraged = atoi(val.c_str());
&samplesAveraged, } else LED = atoi(serialLine.c_str());
&LED serialLine = serialLine.substr(spot+1, serialLine.length() - spot - 1);
);
for (int i = 0; i < NUM_CHANNELS; i++)
{
if (samples_total > 0)
trailingAverage[i] = (1.f - AVG_RATE[i])*trailingAverage[i] +
AVG_RATE[i]*(float)lastMeasured[i];
else
{
trailingAverage[i] = (float)lastMeasured[i];
}
}
samples_total++;
} }
// Clear rest of string for printing onscreen //std::cout << LED << "\n";
while(serial_buffer_pos++ < MAX_BUFFER) serial_buffer[serial_buffer_pos] = ' ';
for (int i = 0; i < NUM_CHANNELS; i++) {
if (samples_total > 0)
trailingAverage[i] = (1.f - AVG_RATE[i])*trailingAverage[i] +
AVG_RATE[i]*(float)lastMeasured[i];
else trailingAverage[i] = (float)lastMeasured[i];
}
samples_total++;
serial_buffer_pos = 0; serial_buffer_pos = 0;
} }
} }