2019-06-05
Dependencies: DataStorage NetworkManager IR_Manager WheelManager RestAPI_Manager
main.cpp@4:acd433b7ecd7, 2019-06-05 (annotated)
- Committer:
- asaewing
- Date:
- Wed Jun 05 07:54:20 2019 +0000
- Revision:
- 4:acd433b7ecd7
- Parent:
- 2:7581451de520
1.0
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
asaewing | 4:acd433b7ecd7 | 1 | |
asaewing | 4:acd433b7ecd7 | 2 | #if !FEATURE_LWIP |
asaewing | 4:acd433b7ecd7 | 3 | #error[NOT_SUPPORTED] LWIP not supported for this target |
asaewing | 2:7581451de520 | 4 | #endif |
asaewing | 2:7581451de520 | 5 | |
asaewing | 2:7581451de520 | 6 | #include "module_for_all.h" |
asaewing | 2:7581451de520 | 7 | |
asaewing | 2:7581451de520 | 8 | #define PORT 8080 |
asaewing | 2:7581451de520 | 9 | |
asaewing | 4:acd433b7ecd7 | 10 | #define IP1 "192.168.20.101" |
asaewing | 4:acd433b7ecd7 | 11 | #define IP2 "192.168.20.102" |
asaewing | 4:acd433b7ecd7 | 12 | #define IP3 "192.168.20.103" |
asaewing | 4:acd433b7ecd7 | 13 | #define IP4 "192.168.20.104" |
asaewing | 4:acd433b7ecd7 | 14 | #define GATEWAY "192.168.20.1" |
asaewing | 4:acd433b7ecd7 | 15 | #define MASK "255.255.255.0" |
asaewing | 2:7581451de520 | 16 | |
asaewing | 4:acd433b7ecd7 | 17 | const char *ip = 0; |
asaewing | 4:acd433b7ecd7 | 18 | const char *mac = 0; |
asaewing | 2:7581451de520 | 19 | |
asaewing | 4:acd433b7ecd7 | 20 | DataStorage ds_manager(""); |
asaewing | 4:acd433b7ecd7 | 21 | IR_Manager ir_manager(""); |
asaewing | 4:acd433b7ecd7 | 22 | WheelManager wheel_manager(""); |
asaewing | 2:7581451de520 | 23 | |
asaewing | 4:acd433b7ecd7 | 24 | NetworkManager *net_manager = new NetworkManager(IP1, GATEWAY, MASK, PORT); |
asaewing | 4:acd433b7ecd7 | 25 | RestAPI_Manager *restAPI_manager = new RestAPI_Manager(&ds_manager, &ir_manager, &wheel_manager, IP1, "1"); |
asaewing | 2:7581451de520 | 26 | |
asaewing | 2:7581451de520 | 27 | //NetworkManager net_manager(); |
asaewing | 2:7581451de520 | 28 | //RestAPI_Manager restAPI_manager(); |
asaewing | 2:7581451de520 | 29 | |
asaewing | 2:7581451de520 | 30 | void checkServer() |
asaewing | 2:7581451de520 | 31 | { |
asaewing | 2:7581451de520 | 32 | //TCPSocket socket; |
asaewing | 2:7581451de520 | 33 | |
asaewing | 4:acd433b7ecd7 | 34 | printf("checkServer Start...\r\n"); |
asaewing | 4:acd433b7ecd7 | 35 | |
asaewing | 4:acd433b7ecd7 | 36 | ir_manager.digitalTest(); |
asaewing | 4:acd433b7ecd7 | 37 | ir_manager.analogTest(); |
asaewing | 2:7581451de520 | 38 | |
asaewing | 2:7581451de520 | 39 | // Open a socket on the network interface, and create a TCP connection to www.arm.com |
asaewing | 2:7581451de520 | 40 | net_manager->clt_sock.open(&(net_manager->eth)); |
asaewing | 2:7581451de520 | 41 | net_manager->clt_sock.connect("192.168.20.1", 81); |
asaewing | 2:7581451de520 | 42 | |
asaewing | 2:7581451de520 | 43 | // Send a simple http request |
asaewing | 2:7581451de520 | 44 | //char sbuffer[] = "GET /iamok/ HTTP/1.1\r\nHost: 192.168.20.1\r\n\r\n"; |
asaewing | 2:7581451de520 | 45 | std::string sbuffer_str = "GET /iamok/ HTTP/1.1\r\nHost: 192.168.20.1\r\n\r\n"; |
asaewing | 4:acd433b7ecd7 | 46 | char *sbuffer = new char[sbuffer_str.length() + 1]; |
asaewing | 4:acd433b7ecd7 | 47 | |
asaewing | 2:7581451de520 | 48 | //tmpString = stringToChar(tmpResponse); |
asaewing | 2:7581451de520 | 49 | stringToChar(sbuffer, sbuffer_str); |
asaewing | 4:acd433b7ecd7 | 50 | |
asaewing | 2:7581451de520 | 51 | //clt_sock.send(tmpString, strlen(tmpString)); |
asaewing | 4:acd433b7ecd7 | 52 | |
asaewing | 2:7581451de520 | 53 | int scount = net_manager->clt_sock.send(sbuffer, strlen(sbuffer)); |
asaewing | 4:acd433b7ecd7 | 54 | printf("sent %d [%.*s]\r\n", scount, strstr(sbuffer, "\r\n") - sbuffer, sbuffer); |
asaewing | 4:acd433b7ecd7 | 55 | |
asaewing | 4:acd433b7ecd7 | 56 | if (scount >= 0) |
asaewing | 4:acd433b7ecd7 | 57 | { |
asaewing | 2:7581451de520 | 58 | // Recieve a simple http response and print out the response line |
asaewing | 4:acd433b7ecd7 | 59 | char *rbuffer = new char[1024]; |
asaewing | 2:7581451de520 | 60 | //char* buf = new char[1024]; |
asaewing | 2:7581451de520 | 61 | //int rcount = net_manager->clt_sock.recv(rbuffer, sizeof rbuffer); |
asaewing | 2:7581451de520 | 62 | int rcount = net_manager->clt_sock.recv(rbuffer, 100); |
asaewing | 4:acd433b7ecd7 | 63 | printf("recv %d [%.*s]\r\n", rcount, strstr(rbuffer, "\r\n") - rbuffer, rbuffer); |
asaewing | 4:acd433b7ecd7 | 64 | delete[] rbuffer; |
asaewing | 4:acd433b7ecd7 | 65 | DataStorage::isNoConnectServer = false; |
asaewing | 4:acd433b7ecd7 | 66 | } |
asaewing | 4:acd433b7ecd7 | 67 | else |
asaewing | 4:acd433b7ecd7 | 68 | { |
asaewing | 4:acd433b7ecd7 | 69 | DataStorage::set_PWM_status(1, 0, 0); |
asaewing | 4:acd433b7ecd7 | 70 | DataStorage::set_PWM_status(2, 0, 0); |
asaewing | 4:acd433b7ecd7 | 71 | DataStorage::set_PWM_status(3, 0, 0); |
asaewing | 4:acd433b7ecd7 | 72 | DataStorage::set_PWM_status(4, 0, 0); |
asaewing | 4:acd433b7ecd7 | 73 | |
asaewing | 4:acd433b7ecd7 | 74 | for (int ii = 0; ii < 5; ii++) |
asaewing | 4:acd433b7ecd7 | 75 | { |
asaewing | 2:7581451de520 | 76 | DataStorage::WM_PWM[ii][0] = 1; |
asaewing | 2:7581451de520 | 77 | DataStorage::WM_PWM[ii][1] = 0; |
asaewing | 2:7581451de520 | 78 | } |
asaewing | 4:acd433b7ecd7 | 79 | |
asaewing | 4:acd433b7ecd7 | 80 | /*(DataStorage::_WM_PWM_out01).period(DataStorage::WM_PWM[0][0]); |
asaewing | 2:7581451de520 | 81 | (DataStorage::_WM_PWM_out02).period(DataStorage::WM_PWM[1][0]); |
asaewing | 2:7581451de520 | 82 | (DataStorage::_WM_PWM_out03).period(DataStorage::WM_PWM[2][0]); |
asaewing | 2:7581451de520 | 83 | (DataStorage::_WM_PWM_out04).period(DataStorage::WM_PWM[3][0]); |
asaewing | 2:7581451de520 | 84 | |
asaewing | 2:7581451de520 | 85 | (DataStorage::_WM_PWM_out01).write(DataStorage::WM_PWM[0][1]); |
asaewing | 2:7581451de520 | 86 | (DataStorage::_WM_PWM_out02).write(DataStorage::WM_PWM[1][1]); |
asaewing | 2:7581451de520 | 87 | (DataStorage::_WM_PWM_out03).write(DataStorage::WM_PWM[2][1]); |
asaewing | 4:acd433b7ecd7 | 88 | (DataStorage::_WM_PWM_out04).write(DataStorage::WM_PWM[3][1]);*/ |
asaewing | 4:acd433b7ecd7 | 89 | for (int ii = 0; ii < 4; ii++) |
asaewing | 4:acd433b7ecd7 | 90 | ds_manager.set_PWM_period(ii, 1); |
asaewing | 4:acd433b7ecd7 | 91 | for (int ii = 0; ii < 4; ii++) |
asaewing | 4:acd433b7ecd7 | 92 | ds_manager.set_PWM_write(ii, 0); |
asaewing | 4:acd433b7ecd7 | 93 | DataStorage::isNoConnectServer = true; |
asaewing | 2:7581451de520 | 94 | } |
asaewing | 2:7581451de520 | 95 | |
asaewing | 2:7581451de520 | 96 | // Close the socket to return its memory and bring down the network interface |
asaewing | 2:7581451de520 | 97 | net_manager->clt_sock.close(); |
asaewing | 4:acd433b7ecd7 | 98 | |
asaewing | 4:acd433b7ecd7 | 99 | delete[] sbuffer; |
asaewing | 4:acd433b7ecd7 | 100 | printf("checkServer Over...\r\n"); |
asaewing | 2:7581451de520 | 101 | } |
asaewing | 2:7581451de520 | 102 | |
asaewing | 4:acd433b7ecd7 | 103 | void checkServerLoop() |
asaewing | 4:acd433b7ecd7 | 104 | { |
asaewing | 4:acd433b7ecd7 | 105 | while (true) |
asaewing | 4:acd433b7ecd7 | 106 | { |
asaewing | 2:7581451de520 | 107 | checkServer(); |
asaewing | 2:7581451de520 | 108 | } |
asaewing | 2:7581451de520 | 109 | } |
asaewing | 2:7581451de520 | 110 | |
asaewing | 4:acd433b7ecd7 | 111 | void checkServerThread() |
asaewing | 4:acd433b7ecd7 | 112 | { |
asaewing | 2:7581451de520 | 113 | Thread thread_connect; |
asaewing | 2:7581451de520 | 114 | thread_connect.start(checkServerLoop); |
asaewing | 2:7581451de520 | 115 | } |
asaewing | 2:7581451de520 | 116 | |
asaewing | 4:acd433b7ecd7 | 117 | bool EventLoop() |
asaewing | 4:acd433b7ecd7 | 118 | { |
asaewing | 4:acd433b7ecd7 | 119 | while (true) |
asaewing | 4:acd433b7ecd7 | 120 | { |
asaewing | 4:acd433b7ecd7 | 121 | printf("$$ EventLoop New\r\n"); |
asaewing | 2:7581451de520 | 122 | |
asaewing | 2:7581451de520 | 123 | //Thread threadMain01; |
asaewing | 2:7581451de520 | 124 | //restAPI_manager.changeThread(&threadMain01); |
asaewing | 4:acd433b7ecd7 | 125 | |
asaewing | 2:7581451de520 | 126 | //printf("$$ EventLoop Change Thread\r\n"); |
asaewing | 4:acd433b7ecd7 | 127 | |
asaewing | 2:7581451de520 | 128 | LED_NetWait(); |
asaewing | 4:acd433b7ecd7 | 129 | |
asaewing | 2:7581451de520 | 130 | printf("$$ EventLoop Waiting\r\n"); |
asaewing | 4:acd433b7ecd7 | 131 | |
asaewing | 2:7581451de520 | 132 | net_manager->AcceptEvent(); |
asaewing | 2:7581451de520 | 133 | //printf("$$ EventLoop run Response\r\n"); |
asaewing | 4:acd433b7ecd7 | 134 | if (DataStorage::isAccept) |
asaewing | 4:acd433b7ecd7 | 135 | { |
asaewing | 2:7581451de520 | 136 | LED_NetProcess(); |
asaewing | 2:7581451de520 | 137 | DataStorage::http_method = net_manager->getHttpMethod(); |
asaewing | 2:7581451de520 | 138 | DataStorage::api_command = net_manager->getApiCommand(); |
asaewing | 2:7581451de520 | 139 | DataStorage::response = restAPI_manager->runCommand(DataStorage::http_method, DataStorage::api_command); |
asaewing | 2:7581451de520 | 140 | net_manager->SendResponseEvent(DataStorage::response); |
asaewing | 4:acd433b7ecd7 | 141 | DataStorage::noAcceptCount = 0; |
asaewing | 4:acd433b7ecd7 | 142 | } |
asaewing | 4:acd433b7ecd7 | 143 | else |
asaewing | 4:acd433b7ecd7 | 144 | { |
asaewing | 2:7581451de520 | 145 | DataStorage::noAcceptCount += 1; |
asaewing | 4:acd433b7ecd7 | 146 | if (DataStorage::noAcceptCount == 20) |
asaewing | 4:acd433b7ecd7 | 147 | { |
asaewing | 2:7581451de520 | 148 | DataStorage::noAcceptCount = 0; |
asaewing | 4:acd433b7ecd7 | 149 | if (!DataStorage::isTestMode) |
asaewing | 4:acd433b7ecd7 | 150 | { |
asaewing | 4:acd433b7ecd7 | 151 | LED_NetProcess_checkServer(); |
asaewing | 4:acd433b7ecd7 | 152 | checkServer(); |
asaewing | 4:acd433b7ecd7 | 153 | } |
asaewing | 2:7581451de520 | 154 | } |
asaewing | 2:7581451de520 | 155 | } |
asaewing | 4:acd433b7ecd7 | 156 | |
asaewing | 2:7581451de520 | 157 | //DataStorage::http_method = net_manager->getHttpMethod(); |
asaewing | 2:7581451de520 | 158 | //DataStorage::api_command = net_manager->getApiCommand(); |
asaewing | 4:acd433b7ecd7 | 159 | |
asaewing | 2:7581451de520 | 160 | //DataStorage::response = restAPI_manager->runCommand(DataStorage::http_method, DataStorage::api_command); |
asaewing | 2:7581451de520 | 161 | //net_manager->SendResponseEvent(DataStorage::response); |
asaewing | 4:acd433b7ecd7 | 162 | |
asaewing | 2:7581451de520 | 163 | DataStorage::isAccept = false; |
asaewing | 2:7581451de520 | 164 | printf("$$ EventLoop Finish\r\n"); |
asaewing | 2:7581451de520 | 165 | } |
asaewing | 4:acd433b7ecd7 | 166 | |
asaewing | 2:7581451de520 | 167 | //printf("$$ EventLoop ALL Finish\r\n"); |
asaewing | 2:7581451de520 | 168 | return false; |
asaewing | 2:7581451de520 | 169 | } |
asaewing | 2:7581451de520 | 170 | |
asaewing | 4:acd433b7ecd7 | 171 | void checkIP_Mode() |
asaewing | 4:acd433b7ecd7 | 172 | { |
asaewing | 4:acd433b7ecd7 | 173 | DigitalIn IP_Select1(PD_7); |
asaewing | 4:acd433b7ecd7 | 174 | DigitalIn IP_Select2(PD_6); |
asaewing | 4:acd433b7ecd7 | 175 | |
asaewing | 4:acd433b7ecd7 | 176 | DigitalIn Test_Mode(PC_14); |
asaewing | 2:7581451de520 | 177 | |
asaewing | 2:7581451de520 | 178 | DataStorage::ipSelect = 1; |
asaewing | 4:acd433b7ecd7 | 179 | |
asaewing | 4:acd433b7ecd7 | 180 | if (IP_Select1.read() == 1) |
asaewing | 4:acd433b7ecd7 | 181 | { |
asaewing | 2:7581451de520 | 182 | DataStorage::ipSelect += 1; |
asaewing | 2:7581451de520 | 183 | } |
asaewing | 4:acd433b7ecd7 | 184 | |
asaewing | 4:acd433b7ecd7 | 185 | if (IP_Select2.read() == 1) |
asaewing | 4:acd433b7ecd7 | 186 | { |
asaewing | 2:7581451de520 | 187 | DataStorage::ipSelect += 2; |
asaewing | 2:7581451de520 | 188 | } |
asaewing | 4:acd433b7ecd7 | 189 | |
asaewing | 4:acd433b7ecd7 | 190 | switch (DataStorage::ipSelect) |
asaewing | 4:acd433b7ecd7 | 191 | { |
asaewing | 4:acd433b7ecd7 | 192 | case 1: |
asaewing | 4:acd433b7ecd7 | 193 | DataStorage::ipChar = IP1; |
asaewing | 4:acd433b7ecd7 | 194 | break; |
asaewing | 4:acd433b7ecd7 | 195 | case 2: |
asaewing | 4:acd433b7ecd7 | 196 | DataStorage::ipChar = IP2; |
asaewing | 4:acd433b7ecd7 | 197 | break; |
asaewing | 4:acd433b7ecd7 | 198 | case 3: |
asaewing | 4:acd433b7ecd7 | 199 | DataStorage::ipChar = IP3; |
asaewing | 4:acd433b7ecd7 | 200 | break; |
asaewing | 4:acd433b7ecd7 | 201 | case 4: |
asaewing | 4:acd433b7ecd7 | 202 | DataStorage::ipChar = IP4; |
asaewing | 4:acd433b7ecd7 | 203 | break; |
asaewing | 2:7581451de520 | 204 | } |
asaewing | 2:7581451de520 | 205 | |
asaewing | 2:7581451de520 | 206 | DataStorage::ipStr = intToString(DataStorage::ipSelect); |
asaewing | 2:7581451de520 | 207 | |
asaewing | 2:7581451de520 | 208 | net_manager->SetConfig(DataStorage::ipChar, GATEWAY, MASK, PORT); |
asaewing | 2:7581451de520 | 209 | restAPI_manager->SetConfig(DataStorage::ipChar, DataStorage::ipStr); |
asaewing | 4:acd433b7ecd7 | 210 | |
asaewing | 2:7581451de520 | 211 | printf("mbed %d Start\r\n", DataStorage::ipSelect); |
asaewing | 4:acd433b7ecd7 | 212 | |
asaewing | 4:acd433b7ecd7 | 213 | if (Test_Mode.read() == 1) |
asaewing | 4:acd433b7ecd7 | 214 | { |
asaewing | 4:acd433b7ecd7 | 215 | DataStorage::isTestMode = true; |
asaewing | 4:acd433b7ecd7 | 216 | printf("mbed %d mode Test\r\n", DataStorage::ipSelect); |
asaewing | 4:acd433b7ecd7 | 217 | } |
asaewing | 4:acd433b7ecd7 | 218 | else |
asaewing | 4:acd433b7ecd7 | 219 | { |
asaewing | 4:acd433b7ecd7 | 220 | DataStorage::isTestMode = false; |
asaewing | 4:acd433b7ecd7 | 221 | printf("mbed %d mode Normal\r\n", DataStorage::ipSelect); |
asaewing | 4:acd433b7ecd7 | 222 | } |
asaewing | 2:7581451de520 | 223 | } |
asaewing | 2:7581451de520 | 224 | |
asaewing | 4:acd433b7ecd7 | 225 | int netInit() |
asaewing | 4:acd433b7ecd7 | 226 | { |
asaewing | 2:7581451de520 | 227 | net_manager->ServerInit(); |
asaewing | 2:7581451de520 | 228 | printf("ServerInit\r\n"); |
asaewing | 4:acd433b7ecd7 | 229 | |
asaewing | 4:acd433b7ecd7 | 230 | if (net_manager->OpenServer()) |
asaewing | 4:acd433b7ecd7 | 231 | return -1; |
asaewing | 2:7581451de520 | 232 | printf("OpenServer\r\n"); |
asaewing | 4:acd433b7ecd7 | 233 | |
asaewing | 4:acd433b7ecd7 | 234 | if (net_manager->BindPort()) |
asaewing | 4:acd433b7ecd7 | 235 | return -1; |
asaewing | 2:7581451de520 | 236 | printf("BindPort\r\n"); |
asaewing | 4:acd433b7ecd7 | 237 | |
asaewing | 4:acd433b7ecd7 | 238 | if (net_manager->ListenConnections()) |
asaewing | 4:acd433b7ecd7 | 239 | return -1; |
asaewing | 2:7581451de520 | 240 | printf("ListenConnections\r\n"); |
asaewing | 4:acd433b7ecd7 | 241 | |
asaewing | 2:7581451de520 | 242 | return 0; |
asaewing | 2:7581451de520 | 243 | } |
asaewing | 2:7581451de520 | 244 | |
asaewing | 4:acd433b7ecd7 | 245 | void start() |
asaewing | 4:acd433b7ecd7 | 246 | { |
asaewing | 2:7581451de520 | 247 | printf("mbed Power Start\r\n"); |
asaewing | 2:7581451de520 | 248 | LED_PowerStart(); |
asaewing | 4:acd433b7ecd7 | 249 | |
asaewing | 4:acd433b7ecd7 | 250 | checkIP_Mode(); |
asaewing | 2:7581451de520 | 251 | wait(0.5); |
asaewing | 2:7581451de520 | 252 | netInit(); |
asaewing | 2:7581451de520 | 253 | } |
asaewing | 2:7581451de520 | 254 | /* Main function */ |
asaewing | 4:acd433b7ecd7 | 255 | int main() |
asaewing | 4:acd433b7ecd7 | 256 | { |
asaewing | 2:7581451de520 | 257 | start(); |
asaewing | 4:acd433b7ecd7 | 258 | |
asaewing | 4:acd433b7ecd7 | 259 | if (EventLoop()) |
asaewing | 4:acd433b7ecd7 | 260 | { |
asaewing | 2:7581451de520 | 261 | return 0; |
asaewing | 2:7581451de520 | 262 | } |
asaewing | 2:7581451de520 | 263 | } |