main.cpp

00001 /*QUESTA è LA VERSIONE PER IL GPS SU ethernet*/
00002 
00003 #include "mbed.h"
00004 #include "rtos/rtos.h"
00005 #include "Teseo-LIV3F.h"
00006 #include <cstdlib>
00007 #include <vector>
00008 #include "XNucleoIKS01A2.h"
00009 #include <algorithm>
00010 #include "EthernetInterface.h"
00011 #include "NTPClient.h"
00012 
00013 
00014 /*IP E AFFINI*/
00015 
00016 const char * IP = "192.168.1.206";//"169.254.112.125";
00017 const char * MASK = "255.255.255.0";
00018 const char * GATEWAY = "192.168.1.1";
00019 
00020 
00021 
00022 /*cose imu*/
00023 
00024 #define ECHO_SERVER_PORT   7  
00025 
00026 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
00027 Timer t;
00028 
00029 DigitalOut myled1(LED1);
00030 DigitalOut myled2(LED2);
00031 DigitalOut myled3(LED3);
00032 
00033 
00034 
00035 /*cose per gps*/
00036 static Thread t1;
00037 static Thread t2;
00038 
00039 static Mutex message_access;
00040 
00041 static Timer system_timer;
00042 static Serial usb_serial(USBTX, USBRX, 9600);
00043 static Serial *serial_debug= &usb_serial;
00044 
00045 static std::vector<int> ids;
00046 
00047 
00048 
00049 static Teseo_LIV3F Teseo(D8,       D13,        D6,      PE_7,          PE_8,          &usb_serial);
00050 
00051 
00052 struct gps_coordinate{
00053     float lat;
00054     char lat_cardinal;
00055     float longitud;
00056     char long_cardinal;
00057     bool valid;
00058     
00059     
00060     
00061     };
00062     
00063     gps_coordinate myPosition;
00064 
00065 
00066 
00067 /*cose per sensori*/
00068 
00069 static Thread t3;
00070 
00071 
00072 
00073 
00074 /* Retrieve the composing elements of the expansion board */
00075 
00076 
00077 /*THIS FUNCTION IS SIMPLY USED TO PRINT ON SERIAL THE NMEA MSG*/
00078 /*
00079 void print_function (enum nmea_msg_id id, char *buf, int len){
00080     
00081     if (id == NMEA_END__) {
00082         puts("Not found\n\r");
00083         return;
00084     }
00085 
00086     if (!len) {
00087         puts("Not valid\n\r");
00088         return;
00089     }
00090     printf("notify: %d " , id);
00091     for (int i = 0; i < len; ++i)
00092         printf("%c",buf[i]);
00093     puts("\n\r");
00094     
00095     
00096     
00097 }
00098 */
00099 /*THIS FUNCTION PRINT ONLY THE MESSAGE WITH ID SAVED IN STATIC VARIALBE ids*/
00100 /*
00101 void getSpectificMsg (){
00102     
00103     enum nmea_msg_id id;
00104     
00105     Teseo.Reset(serial_debug);
00106     Teseo.startListener(serial_debug);
00107 
00108     while(1) {
00109         
00110         osEvent evt = Teseo.queue.get();
00111         if (evt.status == osEventMessage){
00112            
00113             
00114             struct teseo_msg *message = (struct teseo_msg *)evt.value.p;
00115             if (message->len){
00116                 id = Teseo.MsgDetect(message->buf, message->len, serial_debug);
00117             }
00118             
00119             if ( find(ids.begin(), ids.end(), id) != ids.end() ){
00120                 print_function (id, message->buf, message->len);
00121             }
00122            
00123           
00124             
00125             
00126             
00127             Teseo.mpool.free(message);
00128            
00129         }           
00130                
00131                
00132         
00133            
00134               
00135 
00136     }
00137     
00138 }
00139 
00140 
00141 
00142 
00143 */
00144 
00145 
00146 int main() {
00147     
00148   
00149     
00150     //cpose per comunicazioni
00151 
00152      
00153    
00154     
00155     EthernetInterface eth;
00156     eth.init(IP,MASK,GATEWAY); //Use DHCP
00157     eth.connect();
00158     printf("IP Address is %s\n", eth.getIPAddress());
00159     
00160    
00161   
00162       
00163     UDPSocket server;
00164     server.bind(ECHO_SERVER_PORT);
00165 
00166     
00167     Endpoint client;
00168     char buffer[256];
00169     char outBuffer[256];
00170     int32_t  packetnumber =0;
00171     
00172      
00173     NTPClient ntp;
00174     ntp.setTime("169.254.92.70", 123);
00175 
00176        
00177      time_t ctTime;
00178      ctTime = time(NULL);
00179      printf("Time is set to (UTC): %s\r",  ctime(&ctTime));
00180     
00181     while(1) {
00182 
00183         printf("\nWaiting for UDP packet...\n");
00184         
00185         myled1=1;
00186         int n = server.receiveFrom(client, buffer, sizeof(buffer));
00187         buffer[n] = '\0';
00188         
00189         printf("Received packet from: %s\n", client.get_address());
00190         printf("Packet contents : '%s'\n",buffer);
00191         
00192         
00193         //set time
00194         NTPClient ntp;
00195         ntp.setTime(client.get_address(), 123,10000);
00196     
00197        
00198         time_t ctTime;
00199         ctTime = time(NULL);
00200         printf("Time is set to (UTC): %s\r",  ctime(&ctTime));
00201          time_t offset = time(NULL);
00202         t.start();
00203         
00204         
00205         printf("Start Sending GPS messages\n");
00206         
00207         myled2=1;
00208         
00209         myled3=1;
00210         printf ("start sending command\n");
00211         server.sendTo(client, buffer, n);
00212         Teseo.SendCommand(Teseo_LIV3F::ENABLEALL);
00213         Teseo.SendCommand(Teseo_LIV3F::SAVE);
00214         Teseo.SendCommand(Teseo_LIV3F::REBOOT);
00215         Teseo.SendCommand(Teseo_LIV3F::ENABLEALL2);
00216         Teseo.SendCommand(Teseo_LIV3F::SAVE);
00217         Teseo.SendCommand(Teseo_LIV3F::REBOOT);
00218         printf ("ends sending command\n");
00219         memset (&buffer[0], '\0', sizeof(buffer));
00220             while (1){
00221                 packetnumber =packetnumber+1;
00222                 //send imu
00223                 
00224                 if (Teseo._uart.readable()) {
00225                     int c = Teseo._uart.getc();
00226                     sprintf (buffer + strlen(buffer), "%c", c);
00227                     //serial_debug->putc(c);
00228                     if (c =='\n'){
00229                        // sprintf (outBuffer , "%d,%s",(t.read_ms()+(offset*1000)),buffer);
00230                          sprintf (outBuffer , "%s",buffer);
00231                         
00232                         n =sizeof (outBuffer);
00233                         server.sendTo(client, outBuffer, n);
00234                         memset (&buffer[0], '\0', sizeof(buffer)); 
00235                         memset (&outBuffer[0], '\0', sizeof(outBuffer));
00236                         
00237                         
00238                         }
00239                 }
00240                 
00241                 
00242                 
00243                
00244                 //printf (buffer);
00245                 
00246                 //wait (1);
00247                 }
00248    
00249      
00250     
00251         
00252         }
00253 }