Seeed / Grove_Node

The firmware of the Grove Node

Dependencies:   BLE_API color_pixels mbed-src-nrf51822 nRF51822

Fork of BLE_LoopbackUART by Bluetooth Low Energy

node.cpp@11:c0885b74a63a, 2015-06-04 (annotated)

Committer:
yihui
Date:
Thu Jun 04 12:39:32 2015 +0000
Revision:
11:c0885b74a63a
Parent:
10:f34ff4e47741 
fixed direct control bug

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yihui 9:84cb66d0375d 1
yihui 9:84cb66d0375d 2
yihui 10:f34ff4e47741 3 #include "udriver.h"
yihui 9:84cb66d0375d 4 #include "mbed.h"
yihui 10:f34ff4e47741 5 #include "BLEDevice.h"
yihui 9:84cb66d0375d 6 #include "UARTService.h"
yihui 10:f34ff4e47741 7 #include "color_pixels.h"
yihui 9:84cb66d0375d 8
yihui 11:c0885b74a63a 9 #define LOG(...) // { printf(__VA_ARGS__); }
yihui 10:f34ff4e47741 10
yihui 10:f34ff4e47741 11 #define MAX_INIT_DATA 4
yihui 10:f34ff4e47741 12 #define MAX_SENOSR_DIMENSION 9
yihui 10:f34ff4e47741 13 #define MAX_ACTUATOR_DATA_BUF 16
yihui 10:f34ff4e47741 14 #define MAX_EQUATION_NUMBER 2
yihui 10:f34ff4e47741 15 #define MAX_TASK_NUMBER 8
yihui 10:f34ff4e47741 16
yihui 10:f34ff4e47741 17
yihui 10:f34ff4e47741 18 typedef struct {
yihui 10:f34ff4e47741 19 uint8_t d; // dimension
yihui 10:f34ff4e47741 20 uint8_t op; // operator
yihui 10:f34ff4e47741 21 uint8_t extra;
yihui 10:f34ff4e47741 22 float value;
yihui 10:f34ff4e47741 23 } equation_t;
yihui 10:f34ff4e47741 24
yihui 10:f34ff4e47741 25 typedef struct {
yihui 10:f34ff4e47741 26 equation_t equation_list[MAX_EQUATION_NUMBER];
yihui 10:f34ff4e47741 27 uint8_t output[MAX_ACTUATOR_DATA_BUF];
yihui 10:f34ff4e47741 28 } task_t;
yihui 10:f34ff4e47741 29
yihui 10:f34ff4e47741 30
yihui 9:84cb66d0375d 31
yihui 9:84cb66d0375d 32 extern UARTService *uartServicePtr;
yihui 10:f34ff4e47741 33 extern volatile bool ble_is_connected;
yihui 9:84cb66d0375d 34
yihui 10:f34ff4e47741 35 extern driver_t analog_sensor_driver;
yihui 10:f34ff4e47741 36 extern driver_t temperature_sensor_driver;
yihui 10:f34ff4e47741 37 extern driver_t time_sensor_driver;
yihui 9:84cb66d0375d 38
yihui 10:f34ff4e47741 39 extern driver_t relay_driver;
yihui 10:f34ff4e47741 40 extern driver_t led_driver;
yihui 10:f34ff4e47741 41 extern driver_t color_led_strip_driver;
yihui 9:84cb66d0375d 42
yihui 10:f34ff4e47741 43 driver_t *sensor_list[] = {
yihui 9:84cb66d0375d 44 &analog_sensor_driver,
yihui 10:f34ff4e47741 45 &temperature_sensor_driver,
yihui 9:84cb66d0375d 46 &time_sensor_driver,
yihui 9:84cb66d0375d 47 };
yihui 9:84cb66d0375d 48
yihui 10:f34ff4e47741 49 driver_t *actuator_list[] = {
yihui 10:f34ff4e47741 50 &relay_driver,
yihui 9:84cb66d0375d 51 &led_driver,
yihui 9:84cb66d0375d 52 &color_led_strip_driver
yihui 9:84cb66d0375d 53 };
yihui 9:84cb66d0375d 54
yihui 9:84cb66d0375d 55
yihui 9:84cb66d0375d 56 driver_t *sensor;
yihui 9:84cb66d0375d 57 driver_t *actuator;
yihui 10:f34ff4e47741 58 int sensor_index = 0;
yihui 10:f34ff4e47741 59 int actuator_index = 0;
yihui 9:84cb66d0375d 60 void *sensor_object;
yihui 9:84cb66d0375d 61 void *actuator_object;
yihui 10:f34ff4e47741 62 float sensor_data[MAX_SENOSR_DIMENSION] = {0,};
yihui 10:f34ff4e47741 63 float actuator_data[MAX_ACTUATOR_DATA_BUF] = {0,};
yihui 9:84cb66d0375d 64
yihui 10:f34ff4e47741 65 int sensor_init_data[MAX_INIT_DATA] = {0, };
yihui 10:f34ff4e47741 66 int actuator_init_data[MAX_INIT_DATA] = {0, };
yihui 10:f34ff4e47741 67
yihui 10:f34ff4e47741 68 task_t task_list[MAX_TASK_NUMBER];
yihui 10:f34ff4e47741 69 uint32_t task_mask = 0;
yihui 10:f34ff4e47741 70
yihui 10:f34ff4e47741 71 bool equation_test(equation_t *equation, float *data)
yihui 9:84cb66d0375d 72 {
yihui 10:f34ff4e47741 73 bool result = false;
yihui 10:f34ff4e47741 74 if (0x01 == equation->op) { // >
yihui 10:f34ff4e47741 75 result = data[equation->d] > equation->value;
yihui 10:f34ff4e47741 76 } else if (0x02 == equation->op) { // <
yihui 10:f34ff4e47741 77 result = data[equation->d] < equation->value;
yihui 10:f34ff4e47741 78 } else if (0x03 == equation->op) { // =
yihui 10:f34ff4e47741 79 result = data[equation->d] == equation->value;
yihui 10:f34ff4e47741 80 }
yihui 10:f34ff4e47741 81
yihui 10:f34ff4e47741 82 return true;
yihui 10:f34ff4e47741 83 }
yihui 9:84cb66d0375d 84
yihui 9:84cb66d0375d 85 void node_init()
yihui 9:84cb66d0375d 86 {
yihui 10:f34ff4e47741 87 sensor_index = 0;
yihui 10:f34ff4e47741 88 sensor = sensor_list[sensor_index];
yihui 11:c0885b74a63a 89 sensor_init_data[0] = p1;
yihui 11:c0885b74a63a 90 sensor_init_data[1] = p2;
yihui 9:84cb66d0375d 91 sensor->init(&sensor_object, sensor_init_data);
yihui 10:f34ff4e47741 92
yihui 10:f34ff4e47741 93 actuator_index = 2;
yihui 10:f34ff4e47741 94 actuator = actuator_list[actuator_index];
yihui 11:c0885b74a63a 95 actuator_init_data[0] = p3;
yihui 11:c0885b74a63a 96 actuator_init_data[1] = p4;
yihui 10:f34ff4e47741 97 actuator_init_data[2] = 30;
yihui 9:84cb66d0375d 98 actuator->init(&actuator_object, actuator_init_data);
yihui 9:84cb66d0375d 99 }
yihui 9:84cb66d0375d 100
yihui 9:84cb66d0375d 101 void node_tick()
yihui 9:84cb66d0375d 102 {
yihui 9:84cb66d0375d 103 sensor->read(&sensor_object, sensor_data);
yihui 10:f34ff4e47741 104
yihui 10:f34ff4e47741 105
yihui 9:84cb66d0375d 106 for (int d = 0; d < sensor->d; d++) {
yihui 9:84cb66d0375d 107 float value = sensor_data[d];
yihui 10:f34ff4e47741 108
yihui 10:f34ff4e47741 109 if (ble_is_connected) {
yihui 10:f34ff4e47741 110 uartServicePtr->printf("i %d %f\n", d, value);
yihui 10:f34ff4e47741 111 }
yihui 10:f34ff4e47741 112 }
yihui 10:f34ff4e47741 113
yihui 10:f34ff4e47741 114 uint32_t mask = task_mask;
yihui 10:f34ff4e47741 115 int task_index = 0;
yihui 10:f34ff4e47741 116 while (mask) {
yihui 10:f34ff4e47741 117 if (mask & 1) {
yihui 10:f34ff4e47741 118 task_t *task = task_list + task_index;
yihui 10:f34ff4e47741 119 bool result = false;
yihui 10:f34ff4e47741 120 for (int i = 0; i < MAX_EQUATION_NUMBER; i++) {
yihui 10:f34ff4e47741 121 equation_t *equation = task->equation_list + i;
yihui 10:f34ff4e47741 122 if (0 == equation->extra) {
yihui 10:f34ff4e47741 123 break;
yihui 10:f34ff4e47741 124 }
yihui 10:f34ff4e47741 125
yihui 10:f34ff4e47741 126 bool equation_result = equation_test(equation, sensor_data);
yihui 10:f34ff4e47741 127 if ('&' == equation->extra) {
yihui 10:f34ff4e47741 128 result = result && equation_result;
yihui 10:f34ff4e47741 129 } else {
yihui 10:f34ff4e47741 130 result = result || equation;
yihui 9:84cb66d0375d 131 }
yihui 9:84cb66d0375d 132 }
yihui 9:84cb66d0375d 133
yihui 9:84cb66d0375d 134 if (result) {
yihui 10:f34ff4e47741 135 actuator->write(&actuator_object, task->output);
yihui 9:84cb66d0375d 136 }
yihui 9:84cb66d0375d 137 }
yihui 10:f34ff4e47741 138
yihui 10:f34ff4e47741 139 task_index++;
yihui 10:f34ff4e47741 140 mask >>= 1;
yihui 9:84cb66d0375d 141 }
yihui 9:84cb66d0375d 142 }
yihui 9:84cb66d0375d 143
yihui 9:84cb66d0375d 144 void node_parse(int argc, char *argv[])
yihui 9:84cb66d0375d 145 {
yihui 11:c0885b74a63a 146 if (0 == strcmp(argv[0], "s")) {
yihui 9:84cb66d0375d 147 int param1 = atoi(argv[1]);
yihui 11:c0885b74a63a 148 if (param1 != sensor_index) {
yihui 11:c0885b74a63a 149 sensor_index = param1;
yihui 11:c0885b74a63a 150 sensor->fini(&sensor_object);
yihui 11:c0885b74a63a 151 sensor = sensor_list[param1];
yihui 11:c0885b74a63a 152 sensor->init(&sensor_object, sensor_init_data);
yihui 10:f34ff4e47741 153
yihui 11:c0885b74a63a 154 task_mask = 0;
yihui 11:c0885b74a63a 155 }
yihui 10:f34ff4e47741 156
yihui 11:c0885b74a63a 157 LOG("select sensor [%d]\n", sensor_index);
yihui 11:c0885b74a63a 158 } else if (0 == strcmp(argv[0], "a")) {
yihui 11:c0885b74a63a 159 int param1 = atoi(argv[1]);
yihui 11:c0885b74a63a 160 if (param1 != actuator_index) {
yihui 11:c0885b74a63a 161 actuator_index = param1;
yihui 11:c0885b74a63a 162 actuator->fini(&actuator_object);
yihui 11:c0885b74a63a 163 actuator = actuator_list[param1];
yihui 11:c0885b74a63a 164 actuator->init(&actuator_object, actuator_init_data);
yihui 11:c0885b74a63a 165
yihui 11:c0885b74a63a 166 task_mask = 0;
yihui 11:c0885b74a63a 167 }
yihui 9:84cb66d0375d 168
yihui 11:c0885b74a63a 169 LOG("select actuator [%d]\n", actuator_index);
yihui 11:c0885b74a63a 170
yihui 10:f34ff4e47741 171
yihui 9:84cb66d0375d 172 } else if (0 == strcmp(argv[0], "o")) {
yihui 9:84cb66d0375d 173
yihui 9:84cb66d0375d 174 int n = argc - 1;
yihui 9:84cb66d0375d 175 if (n > 8) {
yihui 9:84cb66d0375d 176 n = 8;
yihui 9:84cb66d0375d 177 }
yihui 10:f34ff4e47741 178
yihui 10:f34ff4e47741 179
yihui 9:84cb66d0375d 180 LOG("set output:");
yihui 9:84cb66d0375d 181 for (int i = 0; i < 8; i++) {
yihui 9:84cb66d0375d 182 if (i < n) {
yihui 9:84cb66d0375d 183 float value = atof(argv[i + 1]);
yihui 9:84cb66d0375d 184 actuator_data[i] = value;
yihui 9:84cb66d0375d 185 LOG(" %f", value);
yihui 9:84cb66d0375d 186 } else {
yihui 9:84cb66d0375d 187 actuator_data[i] = 0;
yihui 9:84cb66d0375d 188 }
yihui 9:84cb66d0375d 189 }
yihui 10:f34ff4e47741 190
yihui 9:84cb66d0375d 191 LOG("\n");
yihui 10:f34ff4e47741 192
yihui 9:84cb66d0375d 193 actuator->write(&actuator_object, actuator_data);
yihui 9:84cb66d0375d 194 }
yihui 10:f34ff4e47741 195
yihui 9:84cb66d0375d 196 }