Diff: main.cpp

Revision:

0:e9727d1dd806

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Aug 04 01:00:11 2018 +0000
@@ -0,0 +1,114 @@
+#include <cstdarg>
+#include <cstring>
+#include "mbed.h"
+#include "esp8266.h"
+
+Serial ser2usb(PA_2, PA_3, 115200);
+
+//DigitalIn ref(PA_12);
+//DigitalOut LED(PC_13);
+DigitalOut IN1(PB_0);
+DigitalOut IN2(PB_1);
+DigitalOut IN3(PB_10);
+DigitalOut IN4(PB_11);
+//PwmOut ENA(PB_1);
+//PwmOut ENB(PB_0);
+//InterruptIn switch1(PB_6);
+bool ready(false), received(false), start(false), done(false);
+void run_forwoard();
+void run_backwoard();
+void stop();
+void init();
+void after_irq();
+int switch_trigger;
+int main(void)
+{
+    IN1 = 0;
+    IN2 = 0;
+    IN3 = 0;
+    IN4 = 0;
+//    ENA.period_ms(10);
+//    ENB.period_ms(10);
+//    ENA.pulsewidth_ms(5);
+//    ENB.pulsewidth_ms(5);
+
+    ser2usb.printf("starting\r\n");
+
+    // 选定与 esp8266 相连接的串口，WiFi 名称和密码
+    Esp8266 client(PA_9, PA_10, "iot_b827eb8fb527", "7c02b50b"); // 参数分别为 TX pin / RX pin / SSID / Password
+
+    //声明所有的传感器，每行一个，每个由名字、单位两部分组成，最后一行必须为空指针作为结尾
+    const char* sensors[][2] = {
+        "report", "",
+        NULL, NULL //最后一行以空指针作为结束标记
+    };
+
+    //声明所有的执行器，每行一个，每个由名字、参数类型两部分组成，最后一行必须为空指针作为结尾
+    const char* actuators[][2] = {
+        "command", "", 
+        "dat", "", 
+        NULL, NULL //最后一行以空指针作为结束标记
+    };
+    ser2usb.printf("connecting...\r\n");
+
+    //连接到服务器
+    client.connect_mqtt_broker("192.168.12.1", "car", sensors, actuators);
+
+    client.subscribe_control(actuators[0][0]);
+    client.subscribe_control(actuators[1][0]);
+
+    ser2usb.printf("Initialization done.\r\n");
+    char actuator_name[32], control_value[32];
+    Timer t; // 定时器用于计量发送传感器数据的时间
+    t.start();
+    //client.publish_value("report", "ready.");
+    while(1)
+    {
+        if (client.get_control_cmd(actuator_name, control_value))
+        {
+            ser2usb.printf("Received %s %s\r\n", actuator_name, control_value);
+            if (strcmp(actuator_name, "command") == 0) 
+            {
+                ser2usb.printf("Received CMD %s %s\r\n", actuator_name, control_value);
+                int the_command = atoi(control_value);
+                switch(the_command)
+                {
+                case 1:
+                    ser2usb.printf("server ready\r\n");
+                    while (!client.get_control_cmd(actuator_name, control_value))
+                    {
+                        client.publish_value("report", "wait data.");
+                    }
+                    break;
+                default:
+                    break;
+                }
+            }
+        }
+        else
+        {
+            client.publish_value("report", "ready.");
+        }
+                if(!ready)
+        {
+            client.publish_value( "report", "ready.");
+            //ser2usb.printf("send ready.%d\r\n",flagw);
+            ser2usb.printf("ready?\r\n");
+            
+        }
+        if(!start&&ready)
+        {
+            ser2usb.printf("send start.\r\n");
+            client.publish_value("report", "wait data.");
+        }
+        if(start)
+        {
+            ser2usb.printf("work start.\r\n");
+            client.publish_value("report", "done.");
+            ready=0;
+            received=0;
+            start=0;
+            done=0;
+        }
+    }
+}