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2019-06-05
Dependencies: DataStorage NetworkManager IR_Manager WheelManager RestAPI_Manager
Diff: main.cpp
- Revision:
- 4:acd433b7ecd7
- Parent:
- 2:7581451de520
--- a/main.cpp Fri Dec 21 14:21:24 2018 +0000 +++ b/main.cpp Wed Jun 05 07:54:20 2019 +0000 @@ -1,28 +1,28 @@ -#if !FEATURE_LWIP - #error [NOT_SUPPORTED] LWIP not supported for this target + +#if !FEATURE_LWIP +#error[NOT_SUPPORTED] LWIP not supported for this target #endif #include "module_for_all.h" #define PORT 8080 -#define IP1 "192.168.20.101" -#define IP2 "192.168.20.102" -#define IP3 "192.168.20.103" -#define IP4 "192.168.20.104" -#define GATEWAY "192.168.20.1" -#define MASK "255.255.255.0" +#define IP1 "192.168.20.101" +#define IP2 "192.168.20.102" +#define IP3 "192.168.20.103" +#define IP4 "192.168.20.104" +#define GATEWAY "192.168.20.1" +#define MASK "255.255.255.0" -const char* ip = 0; -const char* mac = 0; -DataStorage ds_manager(""); +const char *ip = 0; +const char *mac = 0; -//DigitalIn IP_Select2(PG_2); +DataStorage ds_manager(""); +IR_Manager ir_manager(""); +WheelManager wheel_manager(""); -//DigitalIn Test_Mode(PC_14); - -NetworkManager* net_manager = new NetworkManager(IP1, GATEWAY, MASK, PORT); -RestAPI_Manager* restAPI_manager = new RestAPI_Manager(&ds_manager, IP1, "1"); +NetworkManager *net_manager = new NetworkManager(IP1, GATEWAY, MASK, PORT); +RestAPI_Manager *restAPI_manager = new RestAPI_Manager(&ds_manager, &ir_manager, &wheel_manager, IP1, "1"); //NetworkManager net_manager(); //RestAPI_Manager restAPI_manager(); @@ -31,7 +31,10 @@ { //TCPSocket socket; - printf("Sending HTTP request to www.arm.com...\r\n"); + printf("checkServer Start...\r\n"); + + ir_manager.digitalTest(); + ir_manager.analogTest(); // Open a socket on the network interface, and create a TCP connection to www.arm.com net_manager->clt_sock.open(&(net_manager->eth)); @@ -40,43 +43,41 @@ // Send a simple http request //char sbuffer[] = "GET /iamok/ HTTP/1.1\r\nHost: 192.168.20.1\r\n\r\n"; std::string sbuffer_str = "GET /iamok/ HTTP/1.1\r\nHost: 192.168.20.1\r\n\r\n"; - char* sbuffer = new char [sbuffer_str.length()+1]; - + char *sbuffer = new char[sbuffer_str.length() + 1]; + //tmpString = stringToChar(tmpResponse); stringToChar(sbuffer, sbuffer_str); - + //clt_sock.send(tmpString, strlen(tmpString)); - + int scount = net_manager->clt_sock.send(sbuffer, strlen(sbuffer)); - printf("sent %d [%.*s]\r\n", scount, strstr(sbuffer, "\r\n")-sbuffer, sbuffer); - - if (scount>=0){ + printf("sent %d [%.*s]\r\n", scount, strstr(sbuffer, "\r\n") - sbuffer, sbuffer); + + if (scount >= 0) + { // Recieve a simple http response and print out the response line - char* rbuffer = new char[1024]; + char *rbuffer = new char[1024]; //char* buf = new char[1024]; //int rcount = net_manager->clt_sock.recv(rbuffer, sizeof rbuffer); int rcount = net_manager->clt_sock.recv(rbuffer, 100); - printf("recv %d [%.*s]\r\n", rcount, strstr(rbuffer, "\r\n")-rbuffer, rbuffer); - delete [] rbuffer; - } else { - DataStorage::_W1_A = 0; - DataStorage::_W1_B = 0; - - DataStorage::_W2_A = 0; - DataStorage::_W2_B = 0; - - DataStorage::_W3_A = 0; - DataStorage::_W3_B = 0; - - DataStorage::_W4_A = 0; - DataStorage::_W4_B = 0; - - for (int ii=0;ii<5;ii++){ + printf("recv %d [%.*s]\r\n", rcount, strstr(rbuffer, "\r\n") - rbuffer, rbuffer); + delete[] rbuffer; + DataStorage::isNoConnectServer = false; + } + else + { + DataStorage::set_PWM_status(1, 0, 0); + DataStorage::set_PWM_status(2, 0, 0); + DataStorage::set_PWM_status(3, 0, 0); + DataStorage::set_PWM_status(4, 0, 0); + + for (int ii = 0; ii < 5; ii++) + { DataStorage::WM_PWM[ii][0] = 1; DataStorage::WM_PWM[ii][1] = 0; } - - (DataStorage::_WM_PWM_out01).period(DataStorage::WM_PWM[0][0]); + + /*(DataStorage::_WM_PWM_out01).period(DataStorage::WM_PWM[0][0]); (DataStorage::_WM_PWM_out02).period(DataStorage::WM_PWM[1][0]); (DataStorage::_WM_PWM_out03).period(DataStorage::WM_PWM[2][0]); (DataStorage::_WM_PWM_out04).period(DataStorage::WM_PWM[3][0]); @@ -84,147 +85,179 @@ (DataStorage::_WM_PWM_out01).write(DataStorage::WM_PWM[0][1]); (DataStorage::_WM_PWM_out02).write(DataStorage::WM_PWM[1][1]); (DataStorage::_WM_PWM_out03).write(DataStorage::WM_PWM[2][1]); - (DataStorage::_WM_PWM_out04).write(DataStorage::WM_PWM[3][1]); + (DataStorage::_WM_PWM_out04).write(DataStorage::WM_PWM[3][1]);*/ + for (int ii = 0; ii < 4; ii++) + ds_manager.set_PWM_period(ii, 1); + for (int ii = 0; ii < 4; ii++) + ds_manager.set_PWM_write(ii, 0); + DataStorage::isNoConnectServer = true; } // Close the socket to return its memory and bring down the network interface net_manager->clt_sock.close(); - - delete [] sbuffer; - + + delete[] sbuffer; + printf("checkServer Over...\r\n"); } -void checkServerLoop() { - while (true) { +void checkServerLoop() +{ + while (true) + { checkServer(); } } -void checkServerThread() { +void checkServerThread() +{ Thread thread_connect; thread_connect.start(checkServerLoop); } +bool EventLoop() +{ + while (true) + { + printf("$$ EventLoop New\r\n"); -bool EventLoop() { - while (true) { - printf("$$ EventLoop New\r\n"); - //Thread threadMain01; //restAPI_manager.changeThread(&threadMain01); - + //printf("$$ EventLoop Change Thread\r\n"); - + LED_NetWait(); - + printf("$$ EventLoop Waiting\r\n"); - + net_manager->AcceptEvent(); //printf("$$ EventLoop run Response\r\n"); - if (DataStorage::isAccept){ + if (DataStorage::isAccept) + { LED_NetProcess(); DataStorage::http_method = net_manager->getHttpMethod(); DataStorage::api_command = net_manager->getApiCommand(); DataStorage::response = restAPI_manager->runCommand(DataStorage::http_method, DataStorage::api_command); net_manager->SendResponseEvent(DataStorage::response); - } else { + DataStorage::noAcceptCount = 0; + } + else + { DataStorage::noAcceptCount += 1; - if (DataStorage::noAcceptCount==20) { + if (DataStorage::noAcceptCount == 20) + { DataStorage::noAcceptCount = 0; - checkServer(); + if (!DataStorage::isTestMode) + { + LED_NetProcess_checkServer(); + checkServer(); + } } } - + //DataStorage::http_method = net_manager->getHttpMethod(); //DataStorage::api_command = net_manager->getApiCommand(); - + //DataStorage::response = restAPI_manager->runCommand(DataStorage::http_method, DataStorage::api_command); //net_manager->SendResponseEvent(DataStorage::response); - + DataStorage::isAccept = false; printf("$$ EventLoop Finish\r\n"); } - + //printf("$$ EventLoop ALL Finish\r\n"); return false; } -void checkIP(){ - DigitalIn IP_Select1(PD_7); - DigitalIn IP_Select2(PD_6); +void checkIP_Mode() +{ + DigitalIn IP_Select1(PD_7); + DigitalIn IP_Select2(PD_6); + + DigitalIn Test_Mode(PC_14); DataStorage::ipSelect = 1; - - if (IP_Select1.read() == 1){ + + if (IP_Select1.read() == 1) + { DataStorage::ipSelect += 1; } - - if (IP_Select2.read() == 1){ + + if (IP_Select2.read() == 1) + { DataStorage::ipSelect += 2; } - - //char* tmp_IP = 0; - - switch(DataStorage::ipSelect) { - case 1: - //tmp_IP = IP1; - DataStorage::ipChar = IP1; - break; - case 2: - //tmp_IP = IP2; - DataStorage::ipChar = IP2; - break; - case 3: - //tmp_IP = IP3; - DataStorage::ipChar = IP3; - break; - case 4: - //tmp_IP = IP4; - DataStorage::ipChar = IP4; - break; + + switch (DataStorage::ipSelect) + { + case 1: + DataStorage::ipChar = IP1; + break; + case 2: + DataStorage::ipChar = IP2; + break; + case 3: + DataStorage::ipChar = IP3; + break; + case 4: + DataStorage::ipChar = IP4; + break; } - //std::string tmp_IP_s = intToString(DataStorage::ipSelect); DataStorage::ipStr = intToString(DataStorage::ipSelect); - net_manager->SetConfig(DataStorage::ipChar, GATEWAY, MASK, PORT); restAPI_manager->SetConfig(DataStorage::ipChar, DataStorage::ipStr); - + printf("mbed %d Start\r\n", DataStorage::ipSelect); - - //delete tmp_IP; + + if (Test_Mode.read() == 1) + { + DataStorage::isTestMode = true; + printf("mbed %d mode Test\r\n", DataStorage::ipSelect); + } + else + { + DataStorage::isTestMode = false; + printf("mbed %d mode Normal\r\n", DataStorage::ipSelect); + } } -int netInit(){ +int netInit() +{ net_manager->ServerInit(); printf("ServerInit\r\n"); - - if (net_manager->OpenServer()) return -1; + + if (net_manager->OpenServer()) + return -1; printf("OpenServer\r\n"); - - if (net_manager->BindPort()) return -1; + + if (net_manager->BindPort()) + return -1; printf("BindPort\r\n"); - - if (net_manager->ListenConnections()) return -1; + + if (net_manager->ListenConnections()) + return -1; printf("ListenConnections\r\n"); - + return 0; } -void start(){ +void start() +{ printf("mbed Power Start\r\n"); LED_PowerStart(); - - checkIP(); + + checkIP_Mode(); wait(0.5); netInit(); } /* Main function */ -int main(){ +int main() +{ start(); - - if (EventLoop()) { + + if (EventLoop()) + { return 0; } } \ No newline at end of file