Diff: main.cpp

Revision:

0:5bf873326d8c

Child:

1:91f8a27fc9a0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 28 06:48:38 2016 +0000
@@ -0,0 +1,192 @@
+#include <stdio.h>
+#include "mbed.h"
+#include "WizFi250Interface.h"
+#include "Servo.h"
+
+
+
+Serial pc(USBTX, USBRX);
+
+/* network setup */
+WizFi250Interface wizfi250(P13,P14,P11,P12,P15,NC,115200);
+TCPSocketServer server;
+TCPSocketConnection client; 
+
+#define SECURE WizFi250::SEC_WPA2_MIXED
+#define SSID "WIZnet_Boat"
+#define PASS "wiznetboat"
+#define PORT 5000
+
+
+/* motor setup */
+Servo servo(P23);
+PwmOut motor(P21);
+
+
+
+/* direction define */
+#define forward "WIZnet_boat_direction:forward"
+#define back "WIZnet_boat_direction:back"
+#define left "WIZnet_boat_direction:left"
+#define right "WIZnet_boat_direction:right"
+#define stop "WIZnet_boat_direction:stop"
+
+
+
+/* Connection Steps */
+typedef enum ConnectionStep { DISASSOCIATED = 1, ASSOCIATED, LISTENED, CONNECTED, DISCONNECTED } conStep;
+conStep ConnectionStep = DISASSOCIATED;
+
+/* functions */
+int TryApUp();
+int TryServerUpAndWaitClient();
+
+
+int main()
+{
+    pc.baud(115200);
+    motor.period_ms(1);
+    float speed = 0.0;   
+    
+    while(1)
+    {
+        char rcvBuf[1024] = {0,};
+        int len = 0;
+        switch(ConnectionStep)
+        {
+            case DISASSOCIATED:
+                TryApUp();
+                break;
+                
+            case ASSOCIATED:
+            case LISTENED:
+                TryServerUpAndWaitClient();
+                break;
+                
+            case CONNECTED:       
+            
+                int isconnected = client.is_connected();
+                if( isconnected == 0 )  ConnectionStep = DISCONNECTED;
+                
+                if( wizfi250.readable(0) > 0 )
+                {
+                    len = client.receive(rcvBuf, 1023);
+                    if( len < 0 ) ConnectionStep = DISCONNECTED;
+                    else if( len > 0)
+                    {
+                        if( strcmp(rcvBuf,forward) == 0 )
+                        {
+                            speed = speed + 0.5;   
+                            printf("forward\r\n");
+                        }
+                        else if( strcmp(rcvBuf,back) == 0 )
+                        {
+                            speed = speed - 0.5;
+                            printf("back\r\n");
+                        }
+                        else if( strcmp(rcvBuf,left) == 0 )
+                        {
+                            servo = servo - 0.1;
+                            printf("left\r\n");
+                        }
+                        else if( strcmp(rcvBuf,right) == 0 )
+                        {
+                            servo = servo + 0.1;
+                            printf("right\r\n");
+                        }
+                        else if( strcmp(rcvBuf,stop) == 0 )
+                        { 
+                            servo = 0.5;   // center
+                            speed = 0;
+                            printf("stop\r\n");
+                        }
+                        
+                        if( speed < 0.0 ) speed = 0.0;
+                        else if ( speed > 255.0 ) speed = 255.0;
+                        printf("speed %.3f\r\n", speed);
+                        motor.write(speed);
+                    }
+                }
+                break;
+            case DISCONNECTED:
+                servo = 0.5;
+                motor.write(0);
+                ConnectionStep = LISTENED;
+                
+        
+        }
+    
+    }
+
+    
+}
+
+int TryApUp()
+{
+    
+    if( wizfi250.isAssociated() == 1 ) return -1;
+    
+    printf(" AP UP\r\n");
+    printf("SSID: %s\r\nPASS: %s", SSID, PASS);
+    
+    for(int i= 0; i<5; i++)
+    {
+        wizfi250.init();
+        wizfi250.setAddress("192.168.0.2","255.255.255.0","192.168.0.2");
+        if ( wizfi250.connect(SECURE, SSID, PASS, WizFi250::WM_AP) )
+            continue;
+        else {
+            printf("IP Address is %s\r\n", wizfi250.getIPAddress());
+            if( wizfi250.isAssociated() == 1 )
+            {
+                ConnectionStep = ASSOCIATED;
+                return 0;
+            } else {
+                continue;    
+            }       
+        }
+    }
+    
+    printf("Fail to make AP\r\n");
+    ConnectionStep = DISASSOCIATED;
+    return -1;
+}
+
+
+int TryServerUpAndWaitClient()
+{
+    if( wizfi250.isAssociated() != 1 ) return -1;
+
+    if( ConnectionStep == ASSOCIATED )
+    {
+        if( server.bind(PORT) < 0 )
+        {
+            printf("Bind fail..\r\n");
+            return -1;
+        }
+        
+        if( server.listen(1) < 0)
+        {
+            printf("Listen fail..\r\n");
+            return -1;
+        } else {
+            printf("Listen PORT: %d\r\n",PORT);    
+            ConnectionStep = LISTENED;
+        }
+    }
+    
+    while(ConnectionStep == LISTENED)
+    {
+        if( server.accept(client) < 0 )
+        {
+            printf("accept fail..\r\n");
+            return -1;
+        }else{
+            printf("Connection Success!!\r\nIP: %s\r\n", client.get_address());
+            ConnectionStep = CONNECTED;
+            return 0;
+        }
+    }
+    
+    return -1;
+}