joystick.cpp

00001 // Joystick resource implementation
00002 
00003 #include "mbed.h"
00004 #include "rtos.h"
00005 #include "nsdl_support.h"
00006 #include "joystick.h"
00007 #define JOY_RES_ID     "joy"
00008 
00009 BusIn joy(p15,p12,p13,p16);
00010 DigitalIn fire(p14);
00011 static uint8_t old_joy_val = 0;
00012 static uint8_t joy_val = 0;
00013 static int old_fire_val = 0;
00014 static int fire_val = 0;
00015 static uint8_t obs_number = 0;
00016 static uint8_t *obs_token_ptr = NULL;
00017 static uint8_t obs_token_len = 0;
00018 static char joy_msg[10];
00019 extern Serial pc;
00020 
00021 /* Thread for calling libNsdl exec function (cleanup, resendings etc..) */
00022 /* Node detects joystick state changes and then sends data. Notification sending is done here. */
00023 static void exec_call_thread(void const *args)
00024 {
00025     int32_t time = 0;
00026     while (true)
00027     {
00028         // Only if joystick state has changed
00029         joy_val = joy.read();
00030         fire_val = fire.read();
00031         if (fire_val != old_fire_val) {
00032             time++;
00033             sn_nsdl_exec(time);
00034             if(obs_token_ptr != NULL)
00035             {
00036                 obs_number++;
00037                 if (fire_val == 1) {
00038                     sprintf(joy_msg, "fire on");
00039                 }
00040                 else if (fire_val == 0) {
00041                     sprintf(joy_msg, "fire off");
00042                 }
00043                 if (sn_nsdl_send_observation_notification(obs_token_ptr, obs_token_len, (uint8_t*)joy_msg, strlen(joy_msg), &obs_number, 1, COAP_MSG_TYPE_NON_CONFIRMABLE, 0) == 0) {
00044                     pc.printf("Joystick data sending failed!\r\n");
00045                 }
00046             }
00047             old_fire_val = fire_val;
00048         }
00049         if (joy_val != old_joy_val) {
00050             time++;
00051             sn_nsdl_exec(time);
00052             if(obs_token_ptr != NULL)
00053             {
00054                 obs_number++;
00055                 if (joy_val == 0x08) {
00056                     sprintf(joy_msg, "down");
00057                 }
00058                 else if (joy_val == 0x04) {
00059                     sprintf(joy_msg, "up");
00060                 }
00061                 else if (joy_val == 0x02) {
00062                     sprintf(joy_msg, "left");
00063                 }
00064                 else if (joy_val == 0x01) {
00065                     sprintf(joy_msg, "right");
00066                 }
00067                 else if (joy_val == 0x00) {
00068                     sprintf(joy_msg, "release");
00069                 }
00070                 if (sn_nsdl_send_observation_notification(obs_token_ptr, obs_token_len, (uint8_t*)joy_msg, strlen(joy_msg), &obs_number, 1, COAP_MSG_TYPE_NON_CONFIRMABLE, 0) == 0) {
00071                      pc.printf("Joystick data sending failed!\r\n");
00072                 }
00073             }
00074             old_joy_val = joy_val;
00075         }
00076     }
00077 }
00078 
00079 // Only GET allowed
00080 static uint8_t joy_resource_cb(sn_coap_hdr_s *received_coap_ptr, sn_nsdl_addr_s *address, sn_proto_info_s * proto)
00081 {
00082     old_joy_val = joy.read();
00083     old_fire_val = fire.read();
00084     sn_coap_hdr_s *coap_res_ptr = 0;
00085     coap_res_ptr = sn_coap_build_response(received_coap_ptr, COAP_MSG_CODE_RESPONSE_CONTENT);
00086 
00087     coap_res_ptr->payload_len = 10;
00088     coap_res_ptr->payload_ptr = (uint8_t*)joy_msg;
00089     
00090     if(received_coap_ptr->token_ptr)
00091     {
00092         if(obs_token_ptr)
00093         {
00094             free(obs_token_ptr);
00095             obs_token_ptr = 0;
00096         }
00097         obs_token_ptr = (uint8_t*)malloc(received_coap_ptr->token_len);
00098         if(obs_token_ptr)
00099         {
00100             memcpy(obs_token_ptr, received_coap_ptr->token_ptr, received_coap_ptr->token_len);
00101             obs_token_len = received_coap_ptr->token_len;
00102         }
00103     }
00104 
00105     if(received_coap_ptr->options_list_ptr->observe)
00106     {
00107         coap_res_ptr->options_list_ptr = (sn_coap_options_list_s*)malloc(sizeof(sn_coap_options_list_s));
00108         memset(coap_res_ptr->options_list_ptr, 0, sizeof(sn_coap_options_list_s));
00109         coap_res_ptr->options_list_ptr->observe_ptr = &obs_number;
00110         coap_res_ptr->options_list_ptr->observe_len = 1;
00111         obs_number++;
00112     }
00113 
00114     sn_nsdl_send_coap_message(address, coap_res_ptr);
00115 
00116     coap_res_ptr->options_list_ptr->observe_ptr = 0;
00117     sn_coap_parser_release_allocated_coap_msg_mem(coap_res_ptr);
00118     return 0;
00119 }
00120 
00121 int create_joystick_resource(sn_nsdl_resource_info_s *resource_ptr)
00122 {
00123     static Thread exec_thread(exec_call_thread);
00124     nsdl_create_dynamic_resource(resource_ptr, sizeof(JOY_RES_ID)-1, (uint8_t*)JOY_RES_ID, 0, 0, 1, &joy_resource_cb, SN_GRS_GET_ALLOWED);    
00125     return 0;
00126 }