Add temperature monitoring for the new firmware.

Author: jaycedowell

arx_control/aspCommon.cpp

@@ -195,6 +195,31 @@ std::string ATmega::get_version() {
 }
 
 
+float ATmega::get_temperature() {
+  float temp_C = -99.0;
+  if( _fd < 0 ) {
+    return temp_C;
+  }
+  
+  atmega::buffer cmd, resp;
+  cmd.command = atmega::COMMAND_READ_TEMPERATURE;
+  cmd.size = 0;
+  
+  int n = atmega::send_command(_fd, &cmd, &resp, ATMEGA_OPEN_MAX_ATTEMPTS, ATMEGA_OPEN_WAIT_MS);
+  if( (n == 0) || (resp.command & atmega::COMMAND_FAILURE) ) {
+    std::cerr << "Warning: " << atmega::strerror(resp.command) << std::endl;
+    return temp_C;
+  }
+  
+  if( resp.size != sizeof(float) ) {
+    std::cerr << "Warning: response is not float sized" << std::endl;
+    return temp_C;
+  }
+  
+  ::memcpy(&temp_C, resp.buffer, sizeof(float));
+  return temp_C;
+}
+
 bool ATmega::transfer_spi(const char* inputs, char* outputs, int size) {
   if( _fd < 0 ) {
     return false;

arx_control/aspCommon.hpp

@@ -72,6 +72,7 @@ class ATmega {
   }
   bool open();
   std::string get_version();
+  float get_temperature();
   bool transfer_spi(const char* inputs, char* outputs, int size);
   std::list<uint8_t> list_rs485_devices();
   bool read_rs485(uint8_t addr, char* data, int* size);

arx_control/listATmegaSN.cpp

@@ -10,6 +10,7 @@ ATmega devices.
 *****************************************************/
 
 #include <iostream>
+#include <iomanip>
 #include <stdexcept>
 #include <string>
 #include <cstring>
@@ -25,6 +26,15 @@ int main(int argc, char* argv[]) {
   /*************************
 	* Command line parsing   *
 	*************************/
+  bool temps = false;
+  for(int i=1; i<argc; i++) {
+    std::string temp = std::string(argv[i]);
+    if( temp[0] == '-' ) {
+      if( (temp == "-t") || (temp == "--temperatures") ) {
+        temps = true;
+      }
+    }
+  }
 
   /************************
 	* ATmega device listing *
@@ -57,8 +67,25 @@ int main(int argc, char* argv[]) {
         for(int i=0; i<std::min((uint16_t) 8, (uint16_t) resp.size); i++) {
           sn.push_back((char) resp.buffer[i]);
         }
-        std::cout << "Found " << sn << " at " << dev_name << std::endl;
+        std::cout << "Found " << sn << " at " << dev_name;
+      }
+      
+      if( temps ) {
+        cmd.command = atmega::COMMAND_READ_TEMPERATURE;
+        cmd.size = 0;
+        
+        int n = atmega::send_command(fd, &cmd, &resp, std::min(3, ATMEGA_OPEN_MAX_ATTEMPTS), ATMEGA_OPEN_WAIT_MS);
+        if( (n > 0) && (resp.command & atmega::COMMAND_FAILURE) == 0 ) {
+          float temp_C = -99.0;
+          if( resp.size == sizeof(float) ) {
+            ::memcpy(&temp_C, &(resp.buffer[0]), sizeof(float));
+          }
+          std::cout << std::setprecision(3) << " at " << temp_C << " C";
+        }
       }
+      
+      std::cout << std::endl;
+      
     } catch(const std::exception& e) {}
 
     atmega::close(fd);