Configure equipment

README.md

@@ -6,8 +6,7 @@ Low-level software for ROV. Takes JSON key:value pairs from [Raspberry Pi](https
 
 To install this code on an Arduino you first need to run the appropriate setup script (in arduino-setup ) to assign an ID to the Arduino. This ID dictates the functionality as follows:
 
-* Ard_T: Control for Thrusters on main ROV body
-* Ard_M: Control for any Micro ROV devices
+* Ard_O: Control for Thrusters and other output devices on main ROV body
 * Ard_I: Sending sensor data back up to surface
 
 After running the setup script, flash arduino-main to the device.
@@ -27,7 +26,7 @@ You need to install the following libraries in your IDE:
 
 ## Expected behaviour
 
-### Arduino T
+### Arduino O
 
 This Arduino is for controlling the output devices on the main ROV body.
 
@@ -37,51 +36,37 @@ Thrusters are given an ID which describes their position on the ROV. Motors are
 
 | Pin | JSON ID | Description                                 |
 |-----|---------|---------------------------------------------|
-| 2   | Thr_FP  | Forward Port Thruster (front right)         |
-| 3   | Thr_FS  | Forward Starboard Thruster (front left)     |
-| 4   | Thr_AP  | Aft Port Thruster (back left)               |
-| 5   | Thr_AS  | Aft Starboard Thruster (back right)         |
-| 6   | Thr_TFP | Top Forward Port Thruster (front right)     |
-| 7   | Thr_TFS | Top Forward Starboard Thruster (front left) |
-| 8   | Thr_TAP | Top Aft Port Thruster (back left)           |
-| 9   | Thr_TAS | Top Aft Starboard Thruster (back right)     |
-| 10  | Mot_R   | Arm Rotation Motor                          |
-| 11  | Mot_G   | Arm Gripper Motor                           |
-| 12  | Mot_F   | Fish Box Opening Motor                      |
+| 0   | thfp    | Forward Port Thruster (front right)         |
+| 1   | thfs    | Forward Starboard Thruster (front left)     |
+| 2   | thap    | Aft Port Thruster (back left)               |
+| 3   | thas    | Aft Starboard Thruster (back right)         |
+| 4   | tvfp    | Top Forward Port Thruster (front right)     |
+| 5   | tvfs    | Top Forward Starboard Thruster (front left) |
+| 6   | tvap    | Top Aft Port Thruster (back left)           |
+| 7   | tvas    | Top Aft Starboard Thruster (back right)     |
+| 8   | mg      | Arm Gripper Motor                           |
+| 9   | tm      | Micro ROV Thruster                          |
+| 10  | mc      | Micro ROV return cord                       |
 
-### Arduino M
 
-This Arduino is for controlling the thruster on the Micro ROV.
-
-Values in the range 1100 to 1900 will be accepted for Thruster or control where 1100 is full reverse, 1500 is stopped, and 1900 is full forward.
-
-Thrusters are given an ID which describes their position on the ROV.
-
-| Pin | JSON ID | Description                                 |
-|-----|---------|---------------------------------------------|
-| 3   | Thr_M   | Micro ROV Thruster                          |
-
-### Arduino ID
+### Arduino I
 
 This Arduino is for reading all the sensors on the ROV.
 
 | JSON ID        | Description                            |
 |----------------|----------------------------------------|
-| Sen_IMU_X      | X Orientation                          |
-| Sen_IMU_Y      | Y Orientation                          |
-| Sen_IMU_Z      | Z Orientation                          |
-| Sen_IMU_Temp   | Internal ROV temperature               |
-| Sen_IMU_AccX   | Linear acceleration X                  |
-| Sen_IMU_AccY   | Linear acceleration X                  |
-| Sen_IMU_AccZ   | Linear acceleration X                  |
-| Sen_Dep_Pres   | External water pressure                |
-| Sen_Dep_Temp   | External temperature                   |
-| Sen_Dep_Dep    | Depth                                  |
-| Sen_Temp       | External temperature (higher accuracy) |
-| Sen_PH         | External PH                            |
-| Sen_Sonar_Dist | Distance measurement from sonar        |
-| Sen_Sonar_Conf | Confidence of sonar measurement        |
-| Sen_Metal      | Metal detector strength                |
+| simux          | X Orientation                          |
+| simuy          | Y Orientation                          |
+| simuz          | Z Orientation                          |
+| simut          | Internal ROV temperature               |
+| simuax         | Linear acceleration X                  |
+| simuay         | Linear acceleration Y                  |
+| simuaz         | Linear acceleration Z                  |
+| sdepp          | External water pressure                |
+| sdept          | External temperature                   |
+| sdepd          | Depth                                  |
+| sdepa          | Altitude                               |
+
 
 
 ### Ret Codes

arduino-main/arduino-main.ino

@@ -44,24 +44,15 @@ Communication communication; // Object to allow for communication with the Raspb
 /* =======================Setup function======================= */
 /* =============Runs once when Arduino is turned on============ */
 void setup() {
-  arduinoID = ARD + String(char(EEPROM.read(0)));
+  arduinoID = String(char(EEPROM.read(0)));
 
   // initialize serial:
   Serial.begin(115200);
   communication.sendStatus(4);
 
-
-
   // Map inputs and outputs based on which Arduino this is
-  if (arduinoID == ARD + "T") {
-    mapper.mapT();
-  }
-  else if (arduinoID == ARD + "I"){
-    mapper.mapI();
-  }
-  else if (arduinoID == ARD + "M"){
-    mapper.mapM();
-  }
+  mapper.instantiateMap();
+
   communication.sendAll();
   communication.sendStatus(0);
 }
@@ -84,10 +75,10 @@ void loop() {
     safetyActive = false; // Switch off auto-off because valid message received
 
     // Act on incoming message accordingly
-    if(arduinoID== ARD + "T" || arduinoID == ARD + "M"){
+    if(mapper.thisIsAnOutputArduino()){
       handleOutputCommands(root);
     }
-    else if (arduinoID == ARD + "I"){
+    else if (mapper.thisIsAnInputArduino()){
       handleSensorCommands(root);
     }
     else{
@@ -101,11 +92,11 @@ void loop() {
 
   // Code to run all the time goes here:
 
-  if(arduinoID == ARD + "T" || arduinoID == ARD + "M"){
+  if(mapper.thisIsAnOutputArduino()){
     // This Arduino is for outputting
     disableOutputsIfNoMessageReceived(safetyShutoffTimeMs);
   }
-  else if(arduinoID == ARD + "I"){
+  else if(mapper.thisIsAnInputArduino()){
     // Output all sensor data
       mapper.sendAllSensors();
   }

arduino-main/src/communication/communication.cpp

@@ -39,17 +39,17 @@ void Communication::bufferValue(String device, String incomingValue){
 
 void Communication::sendStatus (int status){
   //Hardcoded JSON
-  Serial.print("{\"deviceID\":\"");
+  Serial.print("{\""+deviceIdKey+"\":\"");
   Serial.print(arduinoID);
-  Serial.print("\",\"status_");
+  Serial.print("\",\""+statusKey);
   Serial.print(String(char(EEPROM.read(0))));
   Serial.print("\":\"");
   Serial.print(status);
   Serial.println("\"}");
 }
 
 void Communication::sendAll(){
-  Serial.print("{\"deviceID\":\"");
+  Serial.print("{\""+deviceIdKey+"\":\"");
   Serial.print(arduinoID);
   Serial.print("\"");
   Serial.print(messageContents);

arduino-main/src/communication/communication.h

@@ -21,6 +21,8 @@ class Communication{
     int currentPosition; // value of next free space
     bool stringComplete = false;  // whether a full JSON string has been received
     String inputString = "";         // a String to hold incoming data
+    String statusKey = "s";
+    String deviceIdKey = "id";
     String messageContents = "";
 
   public:

arduino-main/src/equipment/input/depth.cpp

@@ -20,10 +20,10 @@ Depth::Depth(int inputPin, String incomingPartID){
 int Depth::getValue() {
   if(initialised){
     depthSensor.read(); // Read current values
-    communication.bufferValue(this->partID+"_Pres",String(depthSensor.pressure()));
-    communication.bufferValue(this->partID+"_Temp",String(depthSensor.temperature()));
-    communication.bufferValue(this->partID+"_Dep",String(depthSensor.depth()));
-    communication.bufferValue(this->partID+"_Alt",String(depthSensor.altitude()));
+    communication.bufferValue(this->partID+"p",String(depthSensor.pressure()));
+    communication.bufferValue(this->partID+"t",String(depthSensor.temperature()));
+    communication.bufferValue(this->partID+"d",String(depthSensor.depth()));
+    communication.bufferValue(this->partID+"a",String(depthSensor.altitude()));
 
   }
   else{

arduino-main/src/equipment/input/imu.cpp

@@ -23,24 +23,24 @@ int IMU::getValue() {
     imu.getEvent(&event);
     /* Output the floating point data */
     // x
-    communication.bufferValue(this->partID+"_X",String(event.orientation.x));
+    communication.bufferValue(this->partID+"x",String(event.orientation.x));
 
     // y
-    communication.bufferValue(this->partID+"_Y",String(event.orientation.y));
+    communication.bufferValue(this->partID+"x",String(event.orientation.y));
 
     // z
-    communication.bufferValue(this->partID+"_Z",String(event.orientation.z));
+    communication.bufferValue(this->partID+"z",String(event.orientation.z));
 
     // Get temperature recorded by IMU
     int8_t temp = imu.getTemp();
-    communication.bufferValue(this->partID+"_Temp",String(temp));
+    communication.bufferValue(this->partID+"t",String(temp));
 
     // Get acceleration data
     imu::Vector<3> euler = imu.getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
 
-    communication.bufferValue(this->partID+"_AccX",String(euler.x()));
-    communication.bufferValue(this->partID+"_AccY",String(euler.y()));
-    communication.bufferValue(this->partID+"_AccZ",String(euler.z()));
+    communication.bufferValue(this->partID+"ax",String(euler.x()));
+    communication.bufferValue(this->partID+"ay",String(euler.y()));
+    communication.bufferValue(this->partID+"az",String(euler.z()));
 
   }
   else{

arduino-main/src/util/constants.cpp

@@ -4,4 +4,4 @@ String arduinoID = "";  // JSON ID representing this Arduino (read from long-ter
 
 int safetyShutoffTimeMs = 1000; // Amount of time in ms before everything gets shut off if no message received
 
-String ARD = "Ard_"; // Prefix for Arduino ID
+//String ARD = "Ard_"; // Prefix for Arduino ID - deprecated

arduino-main/src/util/constants.h

@@ -7,6 +7,6 @@ extern String arduinoID;
 
 extern int safetyShutoffTimeMs;
 
-extern String ARD;
+//extern String ARD;
 
 #endif /* CONSTANTS_H */