From 57a6476924edee315f43417c2253dc76f38e51c9 Mon Sep 17 00:00:00 2001
From: Christian <schirmerc@gmail.com>
Date: Tue, 28 Apr 2020 16:04:21 -0400
Subject: [PATCH] Updated IRC Communication Module

---
 .gitignore                           |  8 ++++++-
 Modules/Func_Send_Capture_Complete.m |  2 +-
 Modules/Func_Send_Section_Statuses.m |  2 +-
 main.m                               | 11 +++++----
 msgHandler.m                         | 36 +++++++++++++---------------
 5 files changed, 33 insertions(+), 26 deletions(-)

diff --git a/.gitignore b/.gitignore
index 21229f7..4d0415c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,7 @@
-*.asv
\ No newline at end of file
+*.asv
+Data/RES101TrainedNET.mat
+FSM.slx
+FSM_grt_rtw/*
+TCP_IP_Test.m
+Test Packets/*
+slprj/*
\ No newline at end of file
diff --git a/Modules/Func_Send_Capture_Complete.m b/Modules/Func_Send_Capture_Complete.m
index 75c9d7b..fbd0540 100644
--- a/Modules/Func_Send_Capture_Complete.m
+++ b/Modules/Func_Send_Capture_Complete.m
@@ -2,7 +2,7 @@ function Func_Send_Capture_Complete(tcpConn)
 %FUNC_SEND_ROBOT_MSG Signals the robotics system that the image has been
 %captured.
 
-bits = [true logical(zeros(1,63))];
+bits = [logical(zeros(1,63)) true];
 
 % Convert bits to a uint8 (byte) array
 msg = uint8(bi2de(reshape(bits,8,[])','left-msb'))';
diff --git a/Modules/Func_Send_Section_Statuses.m b/Modules/Func_Send_Section_Statuses.m
index edf1661..9839075 100644
--- a/Modules/Func_Send_Section_Statuses.m
+++ b/Modules/Func_Send_Section_Statuses.m
@@ -4,7 +4,7 @@ function Func_Send_Section_Statuses(tcpConn, sectionStatusRegister)
 
 % Right-Pad the section status register to a length of 63, and left-pad
 % with one zero (the camera done bit)
-bits = [false, sectionStatusRegister, logical(zeros(1,63-length(sectionStatusRegister)))];
+bits = [logical(zeros(1,63-length(sectionStatusRegister))), flip(sectionStatusRegister), false];
 
 % Convert bits to a uint8 (byte) array
 msg = uint8(bi2de(reshape(bits,8,[])','left-msb'))';
diff --git a/main.m b/main.m
index 8ca5af2..fbfc7a1 100644
--- a/main.m
+++ b/main.m
@@ -12,6 +12,7 @@
 
 %% Begin TCP Communication with the IRC
 tcpConn = tcpip(setup.IRC_IP_Address,setup.IRC_IP_Port)
+%tcpConn.ByteOrder = 'littleEndian';
 fsm.dataStore.tcpConn = tcpConn;
 fsm.dataStore.tcpSetup = setup;
 tcpConn.BytesAvailableFcn = {@msgRcv,fsm};               % Edit the callback function here
@@ -34,9 +35,11 @@ function stepFSM(obj,event,fsm)
 function msgRcv(obj,event,fsm)
 % msgRcv: Event handler for receiving data from the robot
 
-    % Read data from the buffer
-    msgData = fread(obj,obj.BytesAvailable);
-    % Pass the relevant bytes along (last byte is message terminator)
-    msgHandler(msgData(1:end-1),fsm);
+    if(obj.BytesAvailable > 0)
+        % Read data from the buffer
+        msgData = fread(obj,obj.BytesAvailable);
+        % Pass the relevant bytes along (last byte is message terminator)
+        msgHandler(msgData(1:end-1),fsm);
+    end
 
 end
\ No newline at end of file
diff --git a/msgHandler.m b/msgHandler.m
index 7659802..f17e1e0 100644
--- a/msgHandler.m
+++ b/msgHandler.m
@@ -2,34 +2,32 @@ function msgHandler(msgData,fsm)
 %MSGHANDLER Handles Robot-To-PC Messages
 % Robot-To-PC Status Packet
 %  0-Bit | 1-Bit |   Name
-%   1(LSB)          Robot Ready Bit
-%   2       Start Inspection Bit
-%   3       Inspection Complete Bit
+%   0-7     1-8     PoseID
+%    8       9      Robot Ready Bit
+%    9       10     Start Inspection Bit
+%    10      11     Inspection Complete Bit
 
-    % Convert messaage bytes to bit array
-    msgBits = reshape(de2bi(uint8(msgData),'left-msb')',[],1)';
-    
-    % Convert to bytes
-    msgByte = uint8(msgData(1));
+    % Convert message bytes to bit array
+    msgBits = logical(reshape(de2bi(uint8(flip(msgData)),'right-msb',8)',[],1)');
 
     %% Trigger events based on the incoming message data
     
+    % Start Inspection Bit
+    if(msgBits(10))
+        fsm.ev_Req_Begin_Inspection();
+    
+    % Inspection Complete Bit
+    elseif(msgBits(11))
+        fsm.ev_Req_Complete_Inspection();
+        
     % Robot Ready Bit (Capture Image)
-    if(bitand(uint8(1),msgByte,'uint8'))
+    elseif(msgBits(9))
         % Pass the current PoseID to the FSM
-        fsm.curPoseID = bi2de(msgBits(3:10),'left-msb');
+        fsm.curPoseID = uint8(msgData(2));
         fsm.ev_Req_Image_Capture();
     end
-
-    % Inspection Complete Bit
-    if(bitand(uint8(4),msgByte))
-        fsm.ev_Req_Complete_Inspection();
-    end
     
-    % Start Inspection Bit
-    if(bitand(uint8(2),msgByte))
-        fsm.ev_Req_Begin_Inspection();
-    end
+    
 
 
 end