Diff: main.cpp

Revision:

0:ef293aec3a85

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Mar 21 02:52:43 2015 +0000
@@ -0,0 +1,185 @@
+#include "mbed.h"
+#include "MRF24J40.h"
+#include "Actuator.h"
+#include <string>
+#include <sstream>
+#include <vector>
+#include <stdio.h>      /* printf, scanf, puts, NULL */
+#include <stdlib.h>     /* srand, rand */
+#include <time.h>
+#include "rtos.h"
+
+DigitalOut myled(LED3);  //for vest test
+DigitalOut led1(LED1);   //for RF test
+
+
+PwmOut motor1(p25);
+PwmOut motor2(p26);
+PwmOut motor3(p23);
+PwmOut motor4(p24);
+PwmOut motor5(p22);
+PwmOut motor6(p21);
+Serial pc(USBTX, USBRX);
+Timeout to1;
+Timeout to2;
+Timeout to3;
+Timeout to4;
+Timeout to5;
+Timeout to6;
+
+Actuator actuator1(0,1,motor1,to1);
+Actuator actuator2(0,2,motor2,to2);
+Actuator actuator3(0,3,motor3,to3);
+Actuator actuator4(0,4,motor4,to4);
+Actuator actuator5(0,5,motor5,to5);
+Actuator actuator6(0,5,motor6,to6);
+
+
+
+// Timeout for vibration
+
+// RF tranceiver to link with handheld.
+MRF24J40 mrf(p11, p12, p13, p14, p21);
+
+char rxBuffer[128];
+uint8_t rxLen;
+uint32_t duration;
+uint32_t viberation;
+
+int rf_receive(char *data, uint8_t maxLength)
+{
+    uint8_t len = mrf.Receive((uint8_t *)data, maxLength);
+    //pc.printf("data: %s, %d\r\n",data,len);
+    uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
+    if(len > 10) {
+        //Remove the header and footer of the message
+        for(uint8_t i = 0; i < len-2; i++) {
+            if(i<8) {
+                //Make sure our header is valid first
+                if(data[i] != header[i])
+                    return 0;
+            } else {
+                data[i-8] = data[i];
+            }
+        }
+        pc.printf("Received: %s length:%d\r\n", data, ((int)len)-10);
+    }
+    return ((int)len)-10;
+}
+
+std::vector<std::string> split(const std::string &str, char delimiter, std::vector<std::string> extract)
+{
+    std::stringstream ss(str);
+    std::string item;
+    while (std::getline(ss, item, delimiter)) {
+        extract.push_back(item);
+    }
+    return extract;
+}
+
+
+void updateMotors(uint32_t dur) {
+    float durinsec = dur/1000.0;
+    if(actuator1.getM()) actuator1.getTo().attach(&actuator1,&Actuator::shot,durinsec);
+    if(actuator2.getM()) actuator2.getTo().attach(&actuator2,&Actuator::shot,durinsec);
+    if(actuator3.getM()) actuator3.getTo().attach(&actuator3,&Actuator::shot,durinsec);
+    if(actuator4.getM()) actuator4.getTo().attach(&actuator4,&Actuator::shot,durinsec);
+    if(actuator5.getM()) actuator5.getTo().attach(&actuator5,&Actuator::shot,durinsec);
+    if(actuator6.getM()) actuator6.getTo().attach(&actuator6,&Actuator::shot,durinsec);
+}
+
+
+int main() {
+    myled = 0;
+    pc.baud(115200);
+    
+    pc.printf("Client Vest\r\n");
+    while(1){
+        // Check if any data was received. 
+        rxLen = rf_receive(rxBuffer,64);
+        if(rxLen) 
+        {
+            pc.printf("Received string %s \r\n",rxBuffer);
+            std::vector<std::string> msg;
+            /*split the buffer based on the delimiter ',' and save into extract*/
+            msg = split(std::string(rxBuffer),'/',msg);
+            
+            if(msg[0]=="all"||msg[0]=="vest")
+            { 
+            std::vector<std::string> extract;
+            extract = split(msg[3],',',extract);    //vest is the second part of the msg
+            
+                if(!extract[0].compare("V")) {
+                
+                    if(!extract[1].compare("A")) {
+                
+                    const char* control = extract[2].c_str();
+                    duration = std::atoi(extract[3].c_str()); // duration
+                    viberation = std::atoi(extract[4].c_str()); // viberation
+                
+                    if(strlen(control)==6)
+                    {
+                    if(control[0]=='1'){
+                       actuator1.setMotor(viberation);
+                       actuator1.setM(1);
+                       //updateMotors(duration);
+                       }
+                    if(control[1]=='1'){
+                       actuator2.setMotor(viberation);
+                       actuator2.setM(1);
+                       //updateMotors(duration);
+                       }
+                    if(control[2]=='1'){
+                       actuator3.setMotor(viberation);
+                       actuator3.setM(1);
+                       //updateMotors(duration);
+                       }
+                    if(control[3]=='1'){
+                       actuator4.setMotor(viberation);
+                       actuator4.setM(1);
+                       updateMotors(duration);
+                       }
+                    if(control[4]=='1'){
+                       actuator5.setMotor(viberation);
+                       actuator5.setM(1);
+                       //updateMotors(duration);
+                       }
+                    if(control[5]=='1'){
+                       actuator6.setMotor(viberation);
+                       actuator6.setM(1);
+                       //updateMotors(duration);
+                       }
+                    updateMotors(duration);
+                    }
+                    else pc.printf("error!\r\n");                
+                
+                }
+                
+                if(!extract[1].compare("C")){
+                       actuator1.setMotor(0);
+                       actuator1.setM(0);
+                       actuator2.setMotor(0);
+                       actuator2.setM(0);
+                       actuator3.setMotor(0);
+                       actuator3.setM(0);
+                       actuator4.setMotor(0);
+                       actuator4.setM(0);
+                       actuator5.setMotor(0);
+                       actuator5.setM(0);
+                       actuator6.setMotor(0);
+                       actuator6.setM(0);
+                       viberation = 0;
+                       updateMotors(duration);
+                       }            
+                }
+                else{
+                    pc.printf("error!\r\n");
+                    }
+
+            
+        
+        }
+          
+        }
+    }
+}