R@mbln Reks
Guides the user to their classes
Dependencies: 4DGL-uLCD-SE Course SDFileSystem mbed PinDetect LSM9DS1_Library_cal MBed_Adafruit-GPS-Library
Diff: main.cpp
- Revision:
- 4:93a4b415fe6c
- Parent:
- 3:0ca91f8afec5
- Child:
- 5:430f44669f94
--- a/main.cpp Thu Dec 08 14:15:25 2016 +0000
+++ b/main.cpp Thu Dec 08 17:15:27 2016 +0000
@@ -12,46 +12,19 @@
SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
Serial pc(USBTX, USBRX);
-Serial esp(p28, p27); // tx, rx
uLCD_4DGL uLCD(p13,p14,p15); // serial tx, serial rx, reset pin;
PinDetect left(p20);
PinDetect right(p18);
-PinDetect center(p19);
-char ssid[32] = ""; // enter WiFi router ssid inside the quotes
-char pwd [32] = ""; // enter WiFi router password inside the quotes
-
-// for sending/receiving data over serial
-volatile int tx_in=0;
-volatile int tx_out=0;
-volatile int rx_in=0;
-volatile int rx_out=0;
-const int buffer_size = 4095;
-char tx_buffer[buffer_size+1];
-char rx_buffer[buffer_size+1];
-void Tx_interrupt();
-void Rx_interrupt();
-void read_line();
-
-int DataRX;
int update;
-char cmdbuff[512];
-char webdata[4096]; // This may need to be bigger depending on WEB browser used
-void SendCMD(),read_line(),ReadWebData(),startserver();
-int addCourseToVector(vector<Course>& cVec, Course newCourse);
vector<Course> courseVec;
-void readClassFile(vector<Course>& cVec), writeClassFile(vector<Course>& cVec);
+void readClassFile(vector<Course>& cVec);
void displayCourseVec();
float calculateHeading(float mx, float my), computeAngleToDestination(float diffLat, float diffLong);
-int xEnd, yEnd, lastXEnd, lastYEnd = 0.0;
-char rx_line[512];
-string ip_line;
-bool ip_found = false;
+int xEnd, yEnd = 0.0;
bool screen_refreshed = false;
int volatile current_screen = 0;
bool volatile screen_change = false;
-int port =80; // set server port
-int SERVtimeout =5; // set server timeout in seconds in case link breaks.
void left_callback(void)
{
@@ -71,14 +44,6 @@
current_screen = 0;
}
-void center_callback(void)
-{
- if (current_screen == 0) {
- courseVec.clear();
- update = 1;
- }
-}
-
int main()
{
LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
@@ -95,60 +60,38 @@
uLCD.printf("Rotate IMU 360\ndegrees in \nhorizontal plane");
IMU.calibrateMag(0);
- float myLat = 33.776346;
- float myLong = -84.378927;
-
- float destinationLat = 33.772778;
- float destinationLong = -84.379685;
-
left.mode(PullUp);
right.mode(PullUp);
- center.mode(PullUp);
-
left.attach_deasserted(&left_callback);
right.attach_deasserted(&right_callback);
- center.attach_deasserted(¢er_callback);
left.setSampleFrequency();
right.setSampleFrequency();
- center.setSampleFrequency();
readClassFile(courseVec);
+
+ Course tempCourse("CLH", 7, 0, "AM");
+ courseVec.insert(courseVec.begin(), tempCourse);
+
+ float myLat = 33.775991;
+ float myLong = -84.397128;
+ float destinationLat = courseVec[0].getLat();
+ float destinationLong = courseVec[0].getLong();
+
+ screen_change = true;
pc.baud(9600);
- esp.baud(9600);
- // Setup a serial interrupt function to receive data
- esp.attach(&Rx_interrupt, Serial::RxIrq);
- // Setup a serial interrupt function to transmit data
- esp.attach(&Tx_interrupt, Serial::TxIrq);
- startserver();
- DataRX=0;
while(1) {
switch(current_screen) {
case 0:
+ wait(.2);
if (screen_change) {
displayCourseVec();
- screen_refreshed = true;
screen_change = false;
}
- if(DataRX==1) {
- ReadWebData();
- esp.attach(&Rx_interrupt, Serial::RxIrq);
- if (!screen_refreshed) {
- displayCourseVec();
- screen_refreshed = true;
- }
- }
- if(update==1) {
- writeClassFile(courseVec);
- if (!screen_refreshed) {
- displayCourseVec();
- }
- update=0;
- }
- screen_refreshed = false;
break;
case 1:
+ wait(.1);
if (screen_change) {
uLCD.printf("Compass screen");
screen_change = false;
@@ -156,6 +99,7 @@
IMU.readMag();
h = calculateHeading(IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my));
+ pc.printf("Heading: %f\n", h);
destinationLat = courseVec[0].getLat();
destinationLong = courseVec[0].getLong();
float diffLat = destinationLat - myLat;
@@ -199,443 +143,22 @@
xEnd = 63 - xEnd;
yEnd = 63 + yEnd;
}
- //uLCD.line(63, 63, lastXEnd, lastYEnd, BLACK);
uLCD.cls();
uLCD.line(63, 63, xEnd, yEnd, WHITE);
- lastXEnd = xEnd; lastYEnd = yEnd;
wait(.1);
break;
case 2:
+ wait(.1);
if (screen_change) {
uLCD.cls();
uLCD.printf("Distance screen");
screen_change = false;
}
break;
-
}
}
}
-// Reads and processes GET and POST web data
-void ReadWebData()
-{
- wait_ms(200);
- esp.attach(NULL,Serial::RxIrq);
- DataRX=0;
-
- if (!ip_found) {
- char* ip_loc = strstr(rx_buffer, "IP Address:");
- if ((ip_loc != NULL)) {
- ip_loc = strstr(&ip_loc[10], "IP Address:");
- if (ip_loc != NULL) {
- char ip_buf[16];
- memset(ip_buf, '\0', sizeof(ip_buf));
- memcpy(ip_buf, &ip_loc[12], 15);
- ip_line = ip_buf;
- ip_found = true;
- }
- }
- }
-
- memset(webdata, '\0', sizeof(webdata));
- strcpy(webdata, rx_buffer);
- memset(rx_buffer, '\0', sizeof(rx_buffer));
- rx_in = 0;
- rx_out = 0;
-
- // check web data for form information
- if (strstr(webdata, "building=none") == NULL) {
- char buildingBuf[4];
- string building;
- char* buildingLoc = strstr(webdata, "building=");
- if (buildingLoc != NULL) {
- memcpy(buildingBuf, &buildingLoc[9], 3);
- buildingBuf[3] = '\0';
- building = buildingBuf;;
- }
-
- char hourBuf[3];
- int hour = -1;
- char* hourLoc = strstr(webdata, "hour=");
- if (hourLoc != NULL) {
- memcpy(hourBuf, &hourLoc[5], 2);
- hourBuf[2] = '\0';
- hour = atoi(hourBuf);
- }
-
- char minuteBuf[3];
- int minute = -1;
- char* minuteLoc = strstr(webdata, "minute=");
- if (minuteLoc != NULL) {
- memcpy(minuteBuf, &minuteLoc[7], 2);
- minuteBuf[2] = '\0';
- minute = atoi(minuteBuf);
- }
-
- char ampmBuf[3];
- string ampm;
- char* ampmLoc = strstr(webdata, "AMPM=");
- if (ampmLoc != NULL) {
- memcpy(ampmBuf, &mLoc[5], 2);
- ampmBuf[2] = '\0';
- ampm = ampmBuf;
- }
-
- if (minute != -1) {
- Course newCourse(building, hour, minute, ampm);
- addCourseToVector(courseVec, newCourse);
- update = 1;
- }
- }
-}
-// Starts webserver
-void startserver()
-{
- uLCD.cls();
- uLCD.locate(0,0);
- uLCD.printf("Starting server...");
- pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
- strcpy(cmdbuff,"node.restart()\r\n");
- SendCMD();
- wait(2);
- read_line();
-
- pc.printf("\n---------- Connecting to AP ----------\r\n");
- //pc.printf("ssid = %s pwd = %s\r\n",ssid,pwd);
- strcpy(cmdbuff, "wifi.sta.config(\"");
- strcat(cmdbuff, ssid);
- strcat(cmdbuff, "\",\"");
- strcat(cmdbuff, pwd);
- strcat(cmdbuff, "\")\r\n");
- SendCMD();
- wait(3);
- read_line();
-
- pc.printf("\n++++++++++ Starting Server ++++++++++\r\n> ");
-
- //create server
- sprintf(cmdbuff, "srv=net.createServer(net.TCP,%d)\r\n",SERVtimeout);
- SendCMD();
- read_line();
- wait(0.5);
- strcpy(cmdbuff,"srv:listen(80,function(conn)\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff,"conn:on(\"receive\",function(conn,payload) \r\n");
- SendCMD();
- read_line();
- wait(0.3);
-
- //print data to mbed
- strcpy(cmdbuff,"print(payload)\r\n");
- SendCMD();
- read_line();
- wait(0.2);
-
- //web page data
- strcpy(cmdbuff,"conn:send('<!DOCTYPE html><html><head><title>Class Scheduler!</title></head><body><h1>Class Scheduler</h1>')\r\n");
- SendCMD();
- read_line();
- wait(0.4);
- strcpy(cmdbuff,"conn:send('<p><div class = \"content\">Input your schedule below!</div></p>')\r\n");
- SendCMD();
- read_line();
- wait(0.2);
- strcpy(cmdbuff,"conn:send('<form method=\"POST\">')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<select name=\"building\">')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<option value =\"none\">None</option>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff,"conn:send('<option value=\"CLH\">Clough Undergraduate Learning Commons</option>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff,"conn:send('<option value=\"COC\">College of Computing</option>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<option value=\"KLS\">Klaus Advanced Computing Building</option>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<option value=\"VAN\">Van Leer</option></select>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<select name=\"hour\"><option value=\"01\">1</option><option value=\"02\">2</option>')\r\n");
- SendCMD();
- read_line();
- wait(.3);
- strcpy(cmdbuff, "conn:send('<option value=\"03\">3</option><option value=\"04\">4</option><option value=\"05\">5</option>')\r\n");
- SendCMD();
- read_line();
- wait(.3);
- strcpy(cmdbuff, "conn:send('<option value=\"06\">6</option><option value=\"07\">7</option><option value=\"08\">8</option>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<option value=\"09\">9</option><option value=\"10\">10</option><option value=\"11\">11</option><option value=\"12\">12</option></select>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<select name=\"minute\"><option value=\"00\">00</option><option value=\"05\">05</option>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<option value=\"10\">10</option><option value=\"15\">15</option>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<option value=\"20\">20</option><option value=\"25\">25</option>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<option value=\"30\">30</option><option value=\"35\">35</option>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<option value=\"40\">40</option><option value=\"45\">45</option>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<option value=\"50\">50</option><option value=\"55\">55</option></select>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('<select name=\"AMPM\"><option value=\"AM\">AM</option><option value=\"PM\">PM</option></select><br></br>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
-
- strcpy(cmdbuff,"conn:send('<p><input type=\"submit\" value=\"Add Class\"></form>')\r\n");
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "conn:send('</body></html>')\r\n");
- SendCMD();
- read_line();
- wait(0.5);
- // end web page data
- strcpy(cmdbuff, "conn:on(\"sent\",function(conn) conn:close() end)\r\n"); // close current connection
- SendCMD();
- read_line();
- wait(0.3);
- strcpy(cmdbuff, "end)\r\n");
- SendCMD();
- read_line();
- wait(0.2);
- strcpy(cmdbuff, "end)\r\n");
- SendCMD();
- read_line();
- wait(0.2);
-
- strcpy(cmdbuff, "tmr.alarm(0, 1000, 1, function()\r\n");
- SendCMD();
- read_line();
- wait(0.2);
- strcpy(cmdbuff, "if wifi.sta.getip() == nil then\r\n");
- SendCMD();
- read_line();
- wait(0.2);
- strcpy(cmdbuff, "print(\"Connecting to AP...\\n\")\r\n");
- SendCMD();
- read_line();
- wait(0.2);
- strcpy(cmdbuff, "else\r\n");
- SendCMD();
- read_line();
- wait(0.2);
- strcpy(cmdbuff, "ip, nm, gw=wifi.sta.getip()\r\n");
- SendCMD();
- read_line();
- wait(0.2);
- strcpy(cmdbuff,"print(\"IP Address: \",ip)\r\n");
- SendCMD();
- read_line();
- wait(0.2);
- strcpy(cmdbuff,"tmr.stop(0)\r\n");
- SendCMD();
- read_line();
- wait(0.2);
- strcpy(cmdbuff,"end\r\n");
- SendCMD();
- read_line();
- wait(0.2);
- strcpy(cmdbuff,"end)\r\n");
- SendCMD();
- read_line();
- wait(0.2);
-
- pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
-}
-
-// ESP Command data send
-void SendCMD()
-{
- int i;
- char temp_char;
- bool empty;
- i = 0;
-// Start Critical Section - don't interrupt while changing global buffer variables
- NVIC_DisableIRQ(UART1_IRQn);
- empty = (tx_in == tx_out);
- while ((i==0) || (cmdbuff[i-1] != '\n')) {
-// Wait if buffer full
- if (((tx_in + 1) % buffer_size) == tx_out) {
-// End Critical Section - need to let interrupt routine empty buffer by sending
- NVIC_EnableIRQ(UART1_IRQn);
- while (((tx_in + 1) % buffer_size) == tx_out) {
- }
-// Start Critical Section - don't interrupt while changing global buffer variables
- NVIC_DisableIRQ(UART1_IRQn);
- }
- tx_buffer[tx_in] = cmdbuff[i];
- i++;
- tx_in = (tx_in + 1) % buffer_size;
- }
- if (esp.writeable() && (empty)) {
- temp_char = tx_buffer[tx_out];
- tx_out = (tx_out + 1) % buffer_size;
-// Send first character to start tx interrupts, if stopped
- esp.putc(temp_char);
- }
-// End Critical Section
- NVIC_EnableIRQ(UART1_IRQn);
- return;
-}
-
-// Read a line from the large rx buffer from rx interrupt routine
-void read_line()
-{
- int i;
- i = 0;
-// Start Critical Section - don't interrupt while changing global buffer variables
- NVIC_DisableIRQ(UART1_IRQn);
-// Loop reading rx buffer characters until end of line character
- while ((i==0) || (rx_line[i-1] != '\r')) {
-// Wait if buffer empty
- if (rx_in == rx_out) {
-// End Critical Section - need to allow rx interrupt to get new characters for buffer
- NVIC_EnableIRQ(UART1_IRQn);
- while (rx_in == rx_out) {
- }
-// Start Critical Section - don't interrupt while changing global buffer variables
- NVIC_DisableIRQ(UART1_IRQn);
- }
- rx_line[i] = rx_buffer[rx_out];
- i++;
- rx_out = (rx_out + 1) % buffer_size;
- }
-// End Critical Section
- NVIC_EnableIRQ(UART1_IRQn);
- rx_line[i-1] = 0;
-
- return;
-}
-
-// Interupt Routine to read in data from serial port
-void Rx_interrupt()
-{
- DataRX=1;
-// Loop just in case more than one character is in UART's receive FIFO buffer
-// Stop if buffer full
- while ((esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) {
- rx_buffer[rx_in] = esp.getc();
-// Uncomment to Echo to USB serial to watch data flow
- pc.putc(rx_buffer[rx_in]);
- rx_in = (rx_in + 1) % buffer_size;
- }
- return;
-}
-
-// Interupt Routine to write out data to serial port
-void Tx_interrupt()
-{
-// Loop to fill more than one character in UART's transmit FIFO buffer
-// Stop if buffer empty
- while ((esp.writeable()) && (tx_in != tx_out)) {
- esp.putc(tx_buffer[tx_out]);
- tx_out = (tx_out + 1) % buffer_size;
- }
- return;
-}
-
-int addCourseToVector(vector<Course>& cVec, Course newCourse)
-{
- int numIterations = 0;
-
- if (cVec.size() == 0) {
- cVec.push_back(newCourse);
- return 1;
- }
-
- for (int i = 0; i < cVec.size(); i++) {
- numIterations++;
- if (cVec[i].getAMPM_toInt() < newCourse.getAMPM_toInt())
- continue;
- else if (newCourse.getAMPM_toInt() < cVec[i].getAMPM_toInt()) {
- cVec.insert(cVec.begin()+i, newCourse);
- return 1;
- } else if (cVec[i].getAMPM_toInt() == newCourse.getAMPM_toInt()) {
- if (cVec[i].getHour_forCompare() < newCourse.getHour_forCompare())
- continue;
- else if (newCourse.getHour_forCompare() < cVec[i].getHour_forCompare()) {
- cVec.insert(cVec.begin()+i, newCourse);
- return 1;
- } else if (cVec[i].getHour_forCompare() == newCourse.getHour_forCompare()) {
- if (cVec[i].getMinute() < newCourse.getMinute())
- continue;
- else if (newCourse.getMinute() < cVec[i].getMinute()) {
- cVec.insert(cVec.begin()+i, newCourse);
- return 1;
- } else if (cVec[i].getMinute() == newCourse.getMinute()) {
- uLCD.cls();
- uLCD.locate(0,0);
- uLCD.printf("Can not add coure!");
- uLCD.locate(0,1);
- uLCD.printf("Course already at");
- uLCD.locate(0,2);
- uLCD.printf("%i:%s%s", newCourse.getHour(), newCourse.getMinute_toString(), newCourse.getAMPM());
- wait(5);
- return 0;
- }
- }
- }
- }
-
- if (numIterations == cVec.size()) {
- cVec.push_back(newCourse);
- return 1;
- }
-
- return 0;
-}
-
-void writeClassFile(vector<Course>& cVec)
-{
- FILE *writeClass = fopen("/sd/classdir/classes.txt", "w");
- if (writeClass != NULL) {
- string line = "";
- for (int i = 0; i < cVec.size(); i++) {
- if (i != (cVec.size() - 1))
- line = cVec[i].getFileString() + "\n";
- else
- line = cVec[i].getFileString();
- fprintf(writeClass, line.c_str());
- }
- fclose(writeClass);
- }
-}
-
void readClassFile(vector<Course>& cVec)
{
cVec.clear();
@@ -690,9 +213,6 @@
uLCD.locate(0,0);
uLCD.printf("No classes input!");
uLCD.locate(0,1);
- uLCD.printf("To input classes \nGo to:");
- uLCD.locate(0,4);
- uLCD.printf("%s", ip_line);
} else {
uLCD.cls();
uLCD.locate(0,1);
@@ -700,12 +220,6 @@
uLCD.locate(0, i);
uLCD.printf("%s", courseVec[i].getDisplayString());
}
- uLCD.locate(0, 8);
- uLCD.printf("To add courses \ngo to");
- uLCD.locate(0,10);
- uLCD.printf("%s", ip_line);
- uLCD.locate(0,12);
- uLCD.printf("To reset courses\npress center");
}
}