Diff: main.cpp

Revision:

1:f5ac63519541

Child:

2:609dd3a73f33

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 05 06:14:02 2014 -0800
@@ -0,0 +1,279 @@
+/*
+ * main.cpp
+ * Laos Controller, main function
+ *
+ * Copyright (c) 2011 Peter Brier & Jaap Vermaas
+ *
+ *   This file is part of the LaOS project (see: http://wiki.laoslaser.org)
+ *
+ *   LaOS is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU General Public License as published by
+ *   the Free Software Foundation, either version 3 of the License, or
+ *   (at your option) any later version.
+ *
+ *   LaOS is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU General Public License for more details.
+ *
+ *   You should have received a copy of the GNU General Public License
+ *   along with LaOS.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * This program consists of a few parts:
+ *
+ * ConfigFile   Read configuration files
+ * EthConfig    Initialize an ethernet stack, based on a configuration file (includes link status monitoring)
+ * LaosDisplay  User interface functions (read keys, display text and menus on LCD)
+ * LaosMenu     User interface stuctures (menu navigation)
+ * LaosServer   TCP/IP server, accept connections read/write data
+ * LaosMotion   Motion control functions (X,Y,Z motion, homing)
+ * LaosIO       Input/Output functions
+ * LaosFile     File based jobs (read/write/delete)
+ *
+ * Program functions:
+ * 1) Read config file
+ * 2) Enable TCP/IP stack (Fixed ip or DHCP)
+ * 3) Instantiate tcp/ip port and accept connections
+ * 4) Show menus, peform user actions
+ * 5) Controll laser
+ * 6) Controll motion
+ * 7) Set and read IO, check status (e.g. interlocks)
+ *
+ */
+
+// uncomment this to get debugging output in file parser
+// #define READ_FILE_DEBUG
+// #define READ_FILE_DEBUG_VERBOSE
+ 
+#include "global.h"
+#include "ConfigFile.h"
+#include "EthConfig.h"
+#include "TFTPServer.h"
+#include "LaosMenu.h"
+#include "LaosMotion.h"
+#include "SDFileSystem.h"
+#include "laosfilesystem.h"
+
+// MBED blue status leds
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+// Status and communication
+DigitalOut eth_link(p29); // green
+DigitalOut eth_speed(p30); // yellow
+EthernetNetIf *eth; // Ethernet, tcp/ip
+
+// Filesystems
+LocalFileSystem local("local");   //File System
+LaosFileSystem sd(p11, p12, p13, p14, "sd");
+
+// Laos objects
+LaosDisplay *dsp;
+LaosMenu *mnu;
+TFTPServer *srv;
+LaosMotion *mot;
+Timer systime;
+
+// Config
+GlobalConfig *cfg;
+
+// Protos
+void GetFile(void);
+void main_nodisplay();
+void main_menu();
+
+// for debugging:
+extern void plan_get_current_position_xyz(float *x, float *y, float *z);
+extern PwmOut pwm;
+extern "C" void mbed_reset();
+
+/**
+*** Main function
+**/
+int main() 
+{
+  systime.start();
+  //float x, y, z;
+  eth_speed = 1;
+  
+  dsp = new LaosDisplay();
+  printf( VERSION_STRING "...\nBOOT...\n" ); 
+  mnu = new LaosMenu(dsp);
+  eth_speed=0;
+
+ printf("TEST SD...\n"); 
+  FILE *fp = sd.openfile("test.txt", "wb");
+  if ( fp == NULL )
+  {
+    mnu->SetScreen("SD NOT READY!"); 
+    wait(2.0);
+    mbed_reset();
+  }
+  else
+  {
+    printf("SD: READY...\n");
+    fclose(fp);
+    removefile("test.txt");
+  }
+  
+  // See if there's a .bin file on the SD
+  // if so, put it on the MBED and reboot
+  if (SDcheckFirmware()) mbed_reset();
+  
+  mnu->SetScreen(VERSION_STRING);
+  printf("START...\n");
+  cfg =  new GlobalConfig("config.txt");
+  mnu->SetScreen("CONFIG OK...."); 
+  printf("CONFIG OK...\n");
+  if (!cfg->nodisplay)
+    dsp->testI2C();
+  
+  printf("MOTION...\n"); 
+  mot = new LaosMotion();
+    
+  eth = EthConfig();
+  eth_speed=1;
+      
+  printf("SERVER...\n");
+  srv = new TFTPServer("/sd", cfg->port);
+  mnu->SetScreen("SERVER OK...."); 
+  wait(0.5);
+  mnu->SetScreen(9); // IP
+  wait(1.0);
+  
+  printf("RUN...\n");
+  
+  // Wait for key, and then home
+  
+  if ( cfg->autohome )
+  {
+    printf("WAIT FOR COVER...\n");
+    wait(1);
+  
+  
+  // Start homing
+    mnu->SetScreen("WAIT FOR COVER....");
+    //if ( cfg->waitforstart ) 
+      while ( !mot->isStart() );
+    mnu->SetScreen("HOME....");
+    printf("HOME...\n");
+
+    mot->home(cfg->xhome,cfg->yhome, cfg->zhome);
+    // if ( !mot->isHome ) exit(1);
+    printf("HOME DONE. (%d,%d, %d)\n",cfg->xhome,cfg->yhome,cfg->zhome);
+  }
+  else
+    printf("Homing skipped: %d\n", cfg->autohome);
+
+  // clean sd card?
+  if (cfg->cleandir) cleandir();
+  mnu->SetScreen(NULL);  
+
+  if (cfg->nodisplay) {
+    printf("No display set\n\r");
+    main_nodisplay();
+  } else {
+    printf("Entering display\n\r");
+    main_menu();
+  }
+}
+
+void main_nodisplay() {
+  float x, y, z = 0;
+  
+  // main loop  
+   while(1) 
+  {  
+    led1=led2=led3=led4=0;
+    mnu->SetScreen("Wait for file ...");
+    while (srv->State() == listen)
+        Net::poll();
+    GetFile();
+    mot->reset();
+    plan_get_current_position_xyz(&x, &y, &z);
+     printf("%f %f\n", x,y); 
+    mnu->SetScreen("Laser BUSY..."); 
+    
+    char name[32];
+    srv->getFilename(name);
+    printf("Now processing file: '%s'\n\r", name);
+    FILE *in = sd.openfile(name, "r");
+    while (!feof(in))
+    { 
+      while (!mot->ready() );
+      mot->write(readint(in));
+    }
+    fclose(in);
+    removefile(name);
+    // done
+    printf("DONE!...\n");
+	while (!mot->ready() );
+    mot->moveTo(cfg->xrest, cfg->yrest, cfg->zrest);
+  }
+}
+
+
+void main_menu() {
+  // main loop  
+  while (1) {
+        led1=led2=led3=led4=0;
+                
+        mnu->SetScreen(1);
+        while (1) {;
+            mnu->Handle();
+            Net::poll();
+            if (srv->State() != listen) {
+                GetFile();
+                char myname[32];
+                srv->getFilename(myname);
+                if (isFirmware(myname)) {
+                    installFirmware(myname);
+                    mnu->SetScreen(1);
+                } else {
+                    if (strcmp("config.txt", myname) == 0) {
+                        // it's a config file!
+                        mnu->SetScreen(1);
+                    } else {
+                        if (isLaosFile(myname)) {
+                            mnu->SetFileName(myname);
+                            mnu->SetScreen(2);
+                        }
+                    }
+                }
+            }           
+        }
+    }
+}
+
+/**
+*** Get file from network and save on SDcard
+*** Ascii data is read from the network, and saved on the SD card in binary int32 format
+**/
+void GetFile(void) {
+   Timer t;
+   printf("Main::GetFile()\n\r" );
+   mnu->SetScreen("Receive file...");
+   t.start();
+   while (srv->State() != listen) {
+     Net::poll();
+     switch ((int)t.read()) {
+        case 1:
+            mnu->SetScreen("Receive file");
+            break;
+        case 2:
+            mnu->SetScreen("Receive file.");
+            break;
+        case 3:
+            mnu->SetScreen("Receive file..");
+            break;
+        case 4:
+            mnu->SetScreen("Receive file...");
+            t.reset();
+            break;
+     }
+   }
+   mnu->SetScreen("Received file.");
+} // GetFile
+