Diff: main.cpp

Revision:

41:a1ab19cc1387

Parent:

40:e70f811c69dc

Child:

42:48096cfdea78

--- a/main.cpp	Sat Jun 09 18:41:32 2018 +0000
+++ b/main.cpp	Sun Jun 10 06:18:14 2018 +0000
@@ -12,6 +12,7 @@
 Timer cima_debounce_timer;
 Timer baixo_debounce_timer;
 Timer tpontinhos;
+Timer wifi_serial;
  
 //I2C Communication
 I2C i2c_lcd(D14,D15); // SDA, SCL //não apagar
@@ -48,6 +49,9 @@
 int f = 0;
 int limpar_cola = 0;
 
+int jog_working = 0;
+int emerg = 0;
+
 //variáveis float
 float cx = 120.45;
 float cy = 457.85;
@@ -79,7 +83,7 @@
     printf("Starting...\n\r");
     lcd.setBacklight(TextLCD::LightOn); //liga backlight
     lcd.setCursor(TextLCD::CurOff_BlkOff); //define tipo de cursor
-    
+        
     botao_enter.fall(&botenter_press); //chama função botao enter
     botao_cima.fall(&botcima_press); //chama função botao para cima
     botao_baixo.fall(&botbaixo_press); //chama função bota para baixo
@@ -133,6 +137,8 @@
             case 28: menu.chegou_limpeza(); break;
             case 29: menu.limpando(); break;
             case 30: menu.limpeza_completa(); break;
+            case 31: menu.tela_emergencia(); break;
+            case 32: menu.wifi(); break;
         }
     } 
 }             
@@ -192,20 +198,124 @@
         //printf("%f,%d, timer 2 RISE\n\r", t2, voltar);
         }
         
-    void wifiRx(void){
-        if(WiFi.readable()){
-            printf("Recv: %c\n\r", WiFi.getc());   
-        }    
-    }
+void wifiRx(void){
+    wifi_serial.reset();
+    float timeout_time = 2.0;
+    
+    char recv;
+    string buffer;
+    
+    int glue = 0;
+    int jog_mode = 0;
+    int kill_jog = 0;
+    int move_mode = 0;
+    int zero_mode = 0;
+    int machine_zero_mode = 0;
+    int upload_code = 0;
+    int start_mode = 0;
+    
+    if(menu.func == 1){
+        wifi_serial.start();
+        
+        while(WiFi.readable()){
+            recv = WiFi.getc();
+            printf("Recv: %c\n\r", recv);   
+            
+            if(wifi_serial.read() > timeout_time){
+                wifi_serial.stop();
+                printf("Serial timeout");
+                break;   
+            }
+            
+            if(recv == 'x'){
+                printf("X recv\n\r");
+                if(glue){
+                    printf("Clean glue\n\r");
+                    machine.clean_glue();
+                    printf("Cleaned glue\n\r");
+                } else if(jog_mode){
+                    if(kill_jog){
+                        machine.kill_jog();
+                    } else {
+                        machine.jog();
+                    }
+                } else if(move_mode){
+                    machine.move(buffer);
+                    machine.start_program();
+                } else if(zero_mode){
+                    if(machine_zero_mode){
+                        machine.machine_zero();    
+                    }    
+                } else if(start_mode){
+                    machine.start_program();    
+                }
+                return;
+                
+            }
+            
+            if(recv == 'g'){
+                printf("G recv\n\r");
+                glue = 1;
+            }
+            
+            if(recv == 'b'){
+                printf("B recv\n\r");
+                start_mode = 1;    
+            }
+            
+            if(recv == 'j'){
+                printf("J recv\n\r");
+                jog_mode = 1;
+            }
+            
+            if(recv == 'k' && jog_mode){
+                printf("K recv\n\r");
+                kill_jog = 1;    
+            }
+            
+            if(recv == 'z'){
+                printf("Z recv\n\r");
+                zero_mode = 1;    
+            }
+            
+            if(recv == 'm' && zero_mode){
+                printf("M recv\n\r");
+                machine_zero_mode = 1;    
+            }
+            
+            if(recv == 'm' && !zero_mode){
+                printf("M recv\n\r");
+                buffer = "";
+                move_mode = 1;
+            }
+            
+            if(recv == 'u'){
+                printf("U recv\n\r");
+                buffer = "";
+                timeout_time = 10.0;
+                upload_code = 1;    
+            }
+            
+            if(move_mode){
+                printf("got\n\r");
+                buffer.push_back(recv); 
+            }
+            
+            if(upload_code && recv != 'u'){
+                printf("got\n\r");
+                buffer.push_back(recv);    
+            }
+            
+        } 
+    }   
+}
     
 void emergencia_press(void){
     printf("Emerg Press\n\r");
-    menu.tela_emergencia();
-    while(!emergencia.read());
-    printf("Emerg Out\n\r");
-    main();
+    emerg = 1;
 }
 
 void emergencia_release(void){
     printf("Emerg Release\n\r");
+    emerg = 0;
 }
\ No newline at end of file