1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
|
/*
* ClosedLoop.cpp
*
* Created on: 19 Mar 2021
* Author: Louis
*/
#include "ClosedLoop.h"
#if SUPPORT_CAN_EXPANSION
# include <Platform/RepRap.h>
# include <CAN/CanInterface.h>
# include <Platform/Platform.h>
# include <CanMessageFormats.h>
# include <Storage/MassStorage.h>
# include <CAN/ExpansionManager.h>
# include <GCodes/GCodeBuffer/GCodeBuffer.h>
# include <CAN/CanMessageGenericConstructor.h>
constexpr unsigned int MaxSamples = 65535; // This comes from the fact CanMessageClosedLoopData->firstSampleNumber has a max value of 65535
static uint16_t rateRequested; // The sampling rate
static uint8_t modeRequested; // The sampling mode(immediate or on next move)
static uint32_t filterRequested; // A filter for what data is collected
static DriverId deviceRequested; // The driver being sampled
static uint8_t movementRequested; // The movement to be made whilst recording
static volatile uint32_t numSamplesRequested; // The number of samples to collect
static FileStore* volatile closedLoopFile = nullptr; // This is non-null when the data collection is running, null otherwise
static unsigned int expectedRemoteSampleNumber = 0;
static CanAddress expectedRemoteBoardAddress = CanId::NoAddress;
static bool OpenDataCollectionFile(String<MaxFilenameLength> filename, unsigned int size) noexcept
{
// Create the file
FileStore * const f = MassStorage::OpenFile(filename.c_str(), OpenMode::write, size);
if (f == nullptr) { return false; }
// Write the header line
{
String<StringLength500> temp;
temp.copy("Sample,Timestamp");
if (filterRequested & CL_RECORD_RAW_ENCODER_READING) {temp.cat(",Raw Encoder Reading");}
if (filterRequested & CL_RECORD_CURRENT_MOTOR_STEPS) {temp.cat(",Measured Motor Steps");}
if (filterRequested & CL_RECORD_TARGET_MOTOR_STEPS) {temp.cat(",Target Motor Steps");}
if (filterRequested & CL_RECORD_CURRENT_ERROR) {temp.cat(",Current Error");}
if (filterRequested & CL_RECORD_PID_CONTROL_SIGNAL) {temp.cat(",PID Control Signal");}
if (filterRequested & CL_RECORD_PID_P_TERM) {temp.cat(",PID P Term");}
if (filterRequested & CL_RECORD_PID_I_TERM) {temp.cat(",PID I Term");}
if (filterRequested & CL_RECORD_PID_D_TERM) {temp.cat(",PID D Term");}
if (filterRequested & CL_RECORD_STEP_PHASE) {temp.cat(",Measured Step Phase");}
if (filterRequested & CL_RECORD_DESIRED_STEP_PHASE) {temp.cat(",Desired Step Phase");}
if (filterRequested & CL_RECORD_PHASE_SHIFT) {temp.cat(",Phase Shift");}
if (filterRequested & CL_RECORD_COIL_A_CURRENT) {temp.cat(",Coil A Current");}
if (filterRequested & CL_RECORD_COIL_B_CURRENT) {temp.cat(",Coil B Current");}
temp.Erase(temp.strlen(), 1);
temp.cat("\n");
f->Write(temp.c_str());
}
closedLoopFile = f;
return true;
}
static void CloseDataCollectionFile() noexcept
{
closedLoopFile->Truncate(); // truncate the file in case we didn't write all the preallocated space
closedLoopFile->Close();
closedLoopFile = nullptr;
reprap.GetExpansion().AddClosedLoopRun(expectedRemoteBoardAddress, expectedRemoteSampleNumber);
}
// Handle M569.5 - Collect closed loop data
GCodeResult ClosedLoop::StartDataCollection(DriverId driverId, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
// Check what the user wants - record or report
// Record - A number of samples (Snn) is given to record
// Report - Samples (Snn) is not given
bool recording = false;
uint32_t parsedS;
gb.TryGetLimitedUIValue('S', parsedS, recording, MaxSamples + 1);
if (!recording)
{
// No S parameter was given so this is a request for the recording status
if (closedLoopFile == nullptr)
{
reply.copy("Closed loop data is not being collected");
return GCodeResult::warning; // looks like the closed loop plugin relies on this being a warning
}
else
{
reply.printf("Collecting sample: %u/%u", expectedRemoteSampleNumber, (unsigned int)numSamplesRequested);
return GCodeResult::ok;
}
}
// If we get here then the user is requesting a recording
if (closedLoopFile != nullptr) // check if one is already happening
{
CloseDataCollectionFile();
reply.copy("Closed loop data is already being collected; the file will now be closed");
return GCodeResult::error;
}
// Parse the additional parameters
bool seen = false;
uint32_t parsedA = 0, parsedD = 0, parsedR = 0, parsedV = 0;
gb.TryGetLimitedUIValue('A', parsedA, seen, 2); // valid collection modes are 0 and 1
gb.TryGetUIValue('D', parsedD, seen);
gb.TryGetLimitedUIValue('R', parsedR, seen, std::numeric_limits<uint16_t>::max() + 1);
gb.TryGetUIValue('V', parsedV, seen);
// Validation passed - store the values
modeRequested = parsedA;
rateRequested = parsedR;
filterRequested = parsedD;
deviceRequested = driverId;
movementRequested = parsedV;
numSamplesRequested = parsedS;
// Estimate how large the file will be
const unsigned int numVariables = Bitmap<uint32_t>(filterRequested).CountSetBits() + 1; // 1 extra for time stamp
const uint32_t preallocSize = numSamplesRequested * ((numVariables * 8) + 4); // assume format "xxx.xxx," for most samples
// Create the file
String<StringLength50> tempFilename;
if (gb.Seen('F'))
{
gb.GetQuotedString(tempFilename.GetRef(), false);
}
else
{
// Create default filename as none was provided
const time_t time = reprap.GetPlatform().GetDateTime();
tm timeInfo;
gmtime_r(&time, &timeInfo);
tempFilename.printf("0:/sys/closed-loop/%u_%04u-%02u-%02u_%02u.%02u.%02u.csv",
(unsigned int) deviceRequested.boardAddress,
timeInfo.tm_year + 1900, timeInfo.tm_mon + 1, timeInfo.tm_mday, timeInfo.tm_hour, timeInfo.tm_min, timeInfo.tm_sec);
}
String<MaxFilenameLength> closedLoopFileName;
MassStorage::CombineName(closedLoopFileName.GetRef(), "0:/sys/closed-loop/", tempFilename.c_str());
if (!OpenDataCollectionFile(closedLoopFileName, preallocSize))
{
reply.copy("failed to create data collection file");
return GCodeResult::error;
}
// Set up the expected CAN address and next point number before we do anything that might call CloseDataFile
expectedRemoteSampleNumber = 0;
expectedRemoteBoardAddress = deviceRequested.boardAddress;
// If no samples have been requested, return with an info message
if (numSamplesRequested == 0)
{
CloseDataCollectionFile();
reply.copy("no samples recorded");
return GCodeResult::warning;
}
// Set up & start the CAN data transfer
const GCodeResult rslt = CanInterface::StartClosedLoopDataCollection(deviceRequested, filterRequested, numSamplesRequested, rateRequested, movementRequested, modeRequested, gb, reply);
if (rslt > GCodeResult::warning)
{
CloseDataCollectionFile();
MassStorage::Delete(closedLoopFileName.c_str(), false);
}
return rslt;
}
// Process closed loop data received over CAN
void ClosedLoop::ProcessReceivedData(CanAddress src, const CanMessageClosedLoopData& msg, size_t msgLen) noexcept
{
FileStore * const f = closedLoopFile;
if (f != nullptr)
{
if (msg.firstSampleNumber != expectedRemoteSampleNumber)
{
f->Write("Data lost\n");
CloseDataCollectionFile();
}
else
{
unsigned int numSamples = msg.numSamples;
const size_t variableCount = msg.GetVariableCount();
while (numSamples != 0)
{
// Compile the data
String<StringLength256> currentLine;
size_t sampleIndex = msg.numSamples - numSamples;
//TODO use more intelligent formatting depending on the data type, to reduce the amount of data written
currentLine.printf("%u", msg.firstSampleNumber + sampleIndex);
for (size_t i = 0; i < variableCount; i++)
{
currentLine.catf(",%.2f", (double)msg.data[sampleIndex*variableCount + i]);
}
currentLine.cat("\n");
// Write the data
f->Write(currentLine.c_str());
// Increment the working variables
expectedRemoteSampleNumber++;
numSamples--;
}
if (msg.lastPacket)
{
if (msg.overflowed)
{
f->Write("Buffer overflowed\n");
}
CloseDataCollectionFile();
}
}
}
}
#endif
// End
|
