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bobbycar
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add transmission protocol for sd card over serial

This commit is contained in:
interfisch 2024-07-13 23:34:14 +02:00
parent b68bc580cc
commit b416250d47
2 changed files with 183 additions and 15 deletions
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99
controller_teensy/include/logging.h
View File

@ -11,6 +11,8 @@ boolean sdcard_available=false;
boolean datalogging=true;
String datalogging_filename="UNKNOWN.txt";
uint16_t chunksize=128; //for bulk data transmission
#define LOGGINGINTERVAL 100
bool serialCommandEcho_Enabled=true;
@ -20,9 +22,11 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
void writeLogComment(unsigned long time, String msg);
void printFileListing();
void printDirectory(File dir, int numTabs,String parent);
void printFileListing(bool pretty);
void printDirectory(File dir, int numTabs,String parent,bool printSize,bool printFullDirectoryNames);
void printFile(String filename);
void printFilesize(String filename);
void transferFile(String filename);
void removeFile(String filename);
void serialCommandLoop(unsigned long loopmillis, ESCSerialComm& escFront, ESCSerialComm& escRear);
float getBatteryVoltage(ESCSerialComm& escFront, ESCSerialComm& escRear);
@ -318,13 +322,29 @@ void serialCommandLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSeri
if(smessage.equals("test")) {
Serial.println("OK");
}else if(smessage.equals("ls")) {
printFileListing();
printFileListing(false);
}else if(smessage.equals("ls -a")) {
printFileListing(true);
}else if(smessage.startsWith("cat")) {
String _filename=smessage.substring(4);
if (_filename.length()<3){ //if no filename given, use current log file
_filename=getLogFilename();
}
printFile(_filename);
}else if(smessage.startsWith("get")) {
String _filename=smessage.substring(4);
transferFile(_filename);
}else if(smessage.startsWith("sizeof")) {
String _filename=smessage.substring(7);
printFilesize(_filename);
}else if(smessage.startsWith("chunksize")) { //change chunksize for get command
String _chunksizestring=smessage.substring(10);
long _chunksize=_chunksizestring.toInt();
if (_chunksize>0 && _chunksize<LONG_MAX) { //value ok
chunksize=_chunksize;
}else{
Serial.println("Chunksize value out of range");
}
}else if(smessage.startsWith("rm")) {
removeFile(smessage.substring(3));
}else if(smessage.equals("log off")) {
@ -367,16 +387,20 @@ void serialCommandLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSeri
}
}
void printFileListing() {
void printFileListing(bool pretty) {
File root;
root = SD.open("/");
printDirectory(root, 0,"");
if (pretty) {
printDirectory(root, 0,"",true,false); //tabbed with file sizes
}else{
printDirectory(root, 0,"",false,true); //full paths without size
}
}
void printDirectory(File dir, int numTabs,String parent) {
bool printSize=false;
bool printFullDirectoryNames=true;
void printDirectory(File dir, int numTabs,String parent,bool printSize,bool printFullDirectoryNames) {
while (true) {
@ -400,7 +424,7 @@ void printDirectory(File dir, int numTabs,String parent) {
if (!printFullDirectoryNames) {
Serial.println("/");
}
printDirectory(entry, numTabs + 1,parent+entry.name()+"/");
printDirectory(entry, numTabs + 1,parent+entry.name()+"/",printSize,printFullDirectoryNames);
} else {
if (printSize) {
// files have sizes, directories do not
@ -413,6 +437,17 @@ void printDirectory(File dir, int numTabs,String parent) {
}
}
void printFilesize(String filename) {
File dataFile = SD.open(filename.c_str(), FILE_READ);
if (dataFile) {
Serial.println(dataFile.size(), DEC);
dataFile.close();
}else{
Serial.println('0');
}
}
void printFile(String filename) {
@ -435,6 +470,52 @@ void printFile(String filename) {
}
void transferFile(String filename) {
//similar to printFile, but with checksum and chunk based transfer
File dataFile = SD.open(filename.c_str(), FILE_READ);
bool transmiterror=false;
// if the file is available, write to it:
if (dataFile) {
while (dataFile.available() && !transmiterror) {
byte checksum=0;
for (uint16_t i=0;i<chunksize;i++) {
if (dataFile.available()) {
byte b = dataFile.read();
Serial.write(b);
checksum+=b;
}
}
int inByte=-1;
while (inByte==-1) {
if (Serial.available() > 0)
{
inByte = Serial.read();
if ((byte)inByte!=checksum){
transmiterror=true; //exit
Serial.println();
Serial.println("TRANSMISSION ERROR WRONG CHECKSUM");
}
}
}
}
dataFile.close();
}
// if the file isn't open, pop up an error:
else {
Serial.print("error opening "); Serial.println(filename);
}
}
void removeFile(String filename) {
SD.remove(filename.c_str());

99
logdata_visualization/copyLogsFromBobbycar.py
View File

@ -1,8 +1,17 @@
import serial
import os
import time
chunksize=4096
serialport = serial.Serial(port='/dev/ttyACM0', baudrate=115200, timeout=0.1)
#LOG0002
#32 = 124 kbps
#128 = 263 kbps
#4096 = 416 kbps
#32768 = 427 kbps
#65536 = failed
serialport = serial.Serial(port='/dev/ttyACM0', baudrate=115200, timeout=1)
def establish_connection():
@ -39,14 +48,38 @@ def get_filenames():
return filenames
def copy_file(source,destination):
os.makedirs(os.path.dirname(writefilename), exist_ok=True)
def get_filesize(filename):
filesize=0
serialport.write(("sizeof "+str(filename)+"\n").encode())
response = serialport.readline()
hrresponse=response.rstrip().decode('ascii')
if(len(response))>0:
filesize=int(hrresponse)
return filesize
def copy_file(source,destination,expectedsize):
os.makedirs(os.path.dirname(writefilename), exist_ok=True)
transferstarttime=time.time()
chunkstarttime=time.time()
last_print=time.time()
with open(writefilename, 'wb') as writer:
serialport.write(("cat "+filename+"\n").encode())
serialport.write(("chunksize "+str(chunksize)+"\n").encode())
serialport.write(("get "+filename+"\n").encode())
acc_datalen=0
while True:
'''
response = serialport.readline()
hrresponse=response.rstrip().decode('ascii')
if(len(response))>0:
@ -55,6 +88,45 @@ def copy_file(source,destination):
else:
break
'''
data=serialport.read(chunksize)
if(len(data))>0: #data received
#print("received "+str(len(data))+" bytes")
#hrresponse=data.rstrip().decode('ascii')
#print(hrresponse)
acc_datalen+=len(data)
checksum=(sum(data) & 0xFF)
checksumarray=bytearray([checksum])
writer.write(data)
serialport.write(checksumarray) #request next chunk by sending checksum of last chunk
else:
break
if (time.time()-last_print>0.5):
last_print=time.time()
chunkduration=time.time()-chunkstarttime
chunkstarttime=time.time()
progress=acc_datalen/expectedsize
print(str(round(progress*100,0))+"% \t"+str(round(chunkduration*1000,3))+" ms for "+str(len(data))+" Byte \t = "+str(round((len(data)/chunkduration)/1000,3))+" kB/s")
fileduration=time.time()-transferstarttime
file_stats=os.stat(writefilename)
print("Finished transfer of "+str(acc_datalen)+" B or "+str(file_stats.st_size)+" (os) Byte in "+str(fileduration)+" s \t = "+str(round(file_stats.st_size/fileduration/1000,3))+" kB/s")
return acc_datalen
def log_off():
@ -87,10 +159,24 @@ if serialport.isOpen():
#Copy all Files
failed=0
for filename in filenames:
print("Reading file "+filename)
expectedsize=get_filesize(filename)
print("Expecting "+str(expectedsize)+" Byte")
writefilename='sdcard/'+filename
copy_file(filename,writefilename)
receivedsize=copy_file(filename,writefilename,expectedsize)
if (expectedsize!=receivedsize):
print("Warning: Filesize does not match!")
failed+=1
print("")
print(str(len(filenames))+" Files copied with "+str(failed)+" failed")
#Delete all files
@ -108,4 +194,5 @@ serialport.write("echo on\n".encode())
serialport.close()
serialport.close()