demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
main.cpp@8:d98e2dec0f40, 2015-12-31 (annotated)
- Committer:
- henryrawas
- Date:
- Thu Dec 31 17:47:55 2015 +0000
- Revision:
- 8:d98e2dec0f40
- Parent:
- 7:6723f6887d00
- Child:
- 10:9b21566a5ddb
add taps
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jepickett | 0:547ac906c46b | 1 | #include "mbed.h" |
henryrawas | 4:36a4eceb1b7f | 2 | #include "rtos.h" |
henryrawas | 4:36a4eceb1b7f | 3 | |
henryrawas | 4:36a4eceb1b7f | 4 | #include "EthernetInterface.h" |
henryrawas | 4:36a4eceb1b7f | 5 | #include "mbed/logging.h" |
henryrawas | 4:36a4eceb1b7f | 6 | #include "mbed/mbedtime.h" |
henryrawas | 4:36a4eceb1b7f | 7 | #include <NTPClient.h> |
jepickett | 2:37021fb3b45b | 8 | #include <Terminal.h> |
henryrawas | 7:6723f6887d00 | 9 | |
henryrawas | 4:36a4eceb1b7f | 10 | |
jepickett | 2:37021fb3b45b | 11 | using namespace std; |
jepickett | 0:547ac906c46b | 12 | |
jepickett | 2:37021fb3b45b | 13 | DigitalOut myled(LED_GREEN); |
jepickett | 2:37021fb3b45b | 14 | Terminal pc(USBTX, USBRX); |
henryrawas | 4:36a4eceb1b7f | 15 | |
henryrawas | 4:36a4eceb1b7f | 16 | |
henryrawas | 7:6723f6887d00 | 17 | extern void RunController(); |
henryrawas | 7:6723f6887d00 | 18 | extern bool StartIothubThread(); |
henryrawas | 4:36a4eceb1b7f | 19 | |
henryrawas | 4:36a4eceb1b7f | 20 | int setupRealTime(void) |
henryrawas | 4:36a4eceb1b7f | 21 | { |
henryrawas | 4:36a4eceb1b7f | 22 | int result; |
henryrawas | 4:36a4eceb1b7f | 23 | |
henryrawas | 4:36a4eceb1b7f | 24 | (void)printf("setupRealTime begin\r\n"); |
henryrawas | 4:36a4eceb1b7f | 25 | if (EthernetInterface::connect()) |
henryrawas | 4:36a4eceb1b7f | 26 | { |
henryrawas | 4:36a4eceb1b7f | 27 | (void)printf("Error initializing EthernetInterface.\r\n"); |
henryrawas | 4:36a4eceb1b7f | 28 | result = __LINE__; |
henryrawas | 4:36a4eceb1b7f | 29 | } |
henryrawas | 4:36a4eceb1b7f | 30 | else |
henryrawas | 4:36a4eceb1b7f | 31 | { |
henryrawas | 4:36a4eceb1b7f | 32 | (void)printf("setupRealTime NTP begin\r\n"); |
henryrawas | 4:36a4eceb1b7f | 33 | NTPClient ntp; |
henryrawas | 4:36a4eceb1b7f | 34 | if (ntp.setTime("0.pool.ntp.org") != 0) |
henryrawas | 4:36a4eceb1b7f | 35 | { |
henryrawas | 4:36a4eceb1b7f | 36 | (void)printf("Failed setting time.\r\n"); |
henryrawas | 4:36a4eceb1b7f | 37 | result = __LINE__; |
henryrawas | 4:36a4eceb1b7f | 38 | } |
henryrawas | 4:36a4eceb1b7f | 39 | else |
henryrawas | 4:36a4eceb1b7f | 40 | { |
henryrawas | 4:36a4eceb1b7f | 41 | (void)printf("set time correctly!\r\n"); |
henryrawas | 4:36a4eceb1b7f | 42 | result = 0; |
henryrawas | 4:36a4eceb1b7f | 43 | } |
henryrawas | 4:36a4eceb1b7f | 44 | (void)printf("setupRealTime NTP end\r\n"); |
henryrawas | 4:36a4eceb1b7f | 45 | EthernetInterface::disconnect(); |
henryrawas | 4:36a4eceb1b7f | 46 | } |
henryrawas | 4:36a4eceb1b7f | 47 | (void)printf("setupRealTime end\r\n"); |
henryrawas | 4:36a4eceb1b7f | 48 | |
henryrawas | 4:36a4eceb1b7f | 49 | return result; |
henryrawas | 4:36a4eceb1b7f | 50 | } |
henryrawas | 4:36a4eceb1b7f | 51 | |
henryrawas | 4:36a4eceb1b7f | 52 | int InitEthernet() |
henryrawas | 4:36a4eceb1b7f | 53 | { |
henryrawas | 4:36a4eceb1b7f | 54 | (void)printf("Initializing mbed specific things...\r\n"); |
henryrawas | 4:36a4eceb1b7f | 55 | |
henryrawas | 4:36a4eceb1b7f | 56 | /* These are needed in order to initialize the time provider for Proton-C */ |
henryrawas | 4:36a4eceb1b7f | 57 | mbed_log_init(); |
henryrawas | 4:36a4eceb1b7f | 58 | mbedtime_init(); |
henryrawas | 4:36a4eceb1b7f | 59 | |
henryrawas | 4:36a4eceb1b7f | 60 | if (EthernetInterface::init()) |
henryrawas | 4:36a4eceb1b7f | 61 | { |
henryrawas | 4:36a4eceb1b7f | 62 | (void)printf("Error initializing EthernetInterface.\r\n"); |
henryrawas | 4:36a4eceb1b7f | 63 | return -1; |
henryrawas | 4:36a4eceb1b7f | 64 | } |
henryrawas | 4:36a4eceb1b7f | 65 | |
henryrawas | 4:36a4eceb1b7f | 66 | if (setupRealTime() != 0) |
henryrawas | 4:36a4eceb1b7f | 67 | { |
henryrawas | 4:36a4eceb1b7f | 68 | (void)printf("Failed setting up real time clock\r\n"); |
henryrawas | 4:36a4eceb1b7f | 69 | return -1; |
henryrawas | 4:36a4eceb1b7f | 70 | } |
henryrawas | 4:36a4eceb1b7f | 71 | |
henryrawas | 4:36a4eceb1b7f | 72 | if (EthernetInterface::connect()) |
henryrawas | 4:36a4eceb1b7f | 73 | { |
henryrawas | 4:36a4eceb1b7f | 74 | (void)printf("Error connecting EthernetInterface.\r\n"); |
henryrawas | 4:36a4eceb1b7f | 75 | return -1; |
henryrawas | 4:36a4eceb1b7f | 76 | } |
henryrawas | 4:36a4eceb1b7f | 77 | |
henryrawas | 4:36a4eceb1b7f | 78 | return 0; |
henryrawas | 4:36a4eceb1b7f | 79 | } |
henryrawas | 4:36a4eceb1b7f | 80 | |
henryrawas | 4:36a4eceb1b7f | 81 | |
jepickett | 0:547ac906c46b | 82 | |
jepickett | 0:547ac906c46b | 83 | int main() |
jepickett | 0:547ac906c46b | 84 | { |
jepickett | 2:37021fb3b45b | 85 | pc.baud(115200); |
jepickett | 2:37021fb3b45b | 86 | |
jepickett | 2:37021fb3b45b | 87 | pc.cls(); |
jepickett | 2:37021fb3b45b | 88 | pc.foreground(Yellow); |
jepickett | 2:37021fb3b45b | 89 | pc.background(Black); |
jepickett | 2:37021fb3b45b | 90 | |
henryrawas | 8:d98e2dec0f40 | 91 | pc.locate(0, 0); |
jepickett | 2:37021fb3b45b | 92 | pc.printf("**********************\r\n"); |
jepickett | 2:37021fb3b45b | 93 | pc.printf("RobotArmDemo start\r\n"); |
jepickett | 2:37021fb3b45b | 94 | pc.printf("**********************\r\n"); |
jepickett | 2:37021fb3b45b | 95 | |
jepickett | 2:37021fb3b45b | 96 | pc.foreground(Teal); |
jepickett | 2:37021fb3b45b | 97 | pc.background(Black); |
jepickett | 2:37021fb3b45b | 98 | |
henryrawas | 4:36a4eceb1b7f | 99 | InitEthernet(); |
henryrawas | 4:36a4eceb1b7f | 100 | |
henryrawas | 4:36a4eceb1b7f | 101 | // start IotHub connection |
henryrawas | 4:36a4eceb1b7f | 102 | StartIothubThread(); |
jepickett | 2:37021fb3b45b | 103 | |
henryrawas | 4:36a4eceb1b7f | 104 | // time delay is to allow the position encoders to come online after initial power supply event ~ 5 secs |
henryrawas | 4:36a4eceb1b7f | 105 | // and to allow IoTHub SSL connection established |
henryrawas | 4:36a4eceb1b7f | 106 | // TODO: test for connection established |
henryrawas | 4:36a4eceb1b7f | 107 | Thread::wait(15000); |
henryrawas | 4:36a4eceb1b7f | 108 | |
henryrawas | 8:d98e2dec0f40 | 109 | pc.printf("Initialization done. Ready to run. \r\n"); |
jepickett | 2:37021fb3b45b | 110 | |
henryrawas | 7:6723f6887d00 | 111 | |
henryrawas | 7:6723f6887d00 | 112 | RunController(); |
jepickett | 2:37021fb3b45b | 113 | |
henryrawas | 4:36a4eceb1b7f | 114 | } |