GSL_09-HttpServer-RPC-Funcs_Servos - Code to demonstrate how to map 2 RPC functions to…

Users » botdream » Code » GSL_09-HttpServer-RPC-Funcs_Servos

Nelson Neves / GSL_09-HttpServer-RPC-Funcs_Servos

Code to demonstrate how to map 2 RPC functions to command 2 servo motors via REST HTTP Get request. Pretty useful to control a webcam PAN and TILT position when using Servos in this support: http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=470&osCsid=j90j5kqfegquksdbumahtmuqg5 There is also a servo.html file to test some HTML5 slider RANGE object to set the Servo position and make the Http Get request via AJAX (asynchronous JavaScript call) Note: Demo program to be used on the GeekSessionLab Talk (November 2011). http://devrendezvous.com/?lang=en

Dependencies: EthernetNetIf mbed HTTPServer Servo

main.cpp@0:fd56ae0fc8ea, 2011-10-27 (annotated)

Committer:: botdream
Date:: Thu Oct 27 23:28:15 2011 +0000
Revision:: 0:fd56ae0fc8ea

Who changed what in which revision?

User	Revision	Line number	New contents of line
botdream	0:fd56ae0fc8ea	1	/* //---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	2	// RPC ServoCmd
botdream	0:fd56ae0fc8ea	3	http://192.168.1.100/rpc/servocmd1/run 0
botdream	0:fd56ae0fc8ea	4	http://192.168.1.100/rpc/servocmd1/run 50
botdream	0:fd56ae0fc8ea	5	http://192.168.1.100/rpc/servocmd1/run 100
botdream	0:fd56ae0fc8ea	6
botdream	0:fd56ae0fc8ea	7	http://192.168.1.100/rpc/servocmd2/run 0
botdream	0:fd56ae0fc8ea	8	http://192.168.1.100/rpc/servocmd2/run 50
botdream	0:fd56ae0fc8ea	9	http://192.168.1.100/rpc/servocmd2/run 100
botdream	0:fd56ae0fc8ea	10
botdream	0:fd56ae0fc8ea	11	// HTML5 demo (use chrome or html5 compatible browser)
botdream	0:fd56ae0fc8ea	12	-> copy servo.htm.cpp file to MBED internal flash memory (where the binary code is uploaded)
botdream	0:fd56ae0fc8ea	13	-> open file with an TextEditor and remove comments indicator chars "/" and "\/"
botdream	0:fd56ae0fc8ea	14	-> rename servo.htm.cpp to servo.htm
botdream	0:fd56ae0fc8ea	15	-> open browser http://192.168.1.100/servo.htm
botdream	0:fd56ae0fc8ea	16
botdream	0:fd56ae0fc8ea	17	// Hardware
botdream	0:fd56ae0fc8ea	18	-> Connect Servo1 Signal pin to P21 and Servo2 Signal pin to P22
botdream	0:fd56ae0fc8ea	19
botdream	0:fd56ae0fc8ea	20	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	21	// resources
botdream	0:fd56ae0fc8ea	22	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	23	http://mbed.org/handbook/C-Data-Types
botdream	0:fd56ae0fc8ea	24	http://mbed.org/cookbook/RPC-Interface-Library
botdream	0:fd56ae0fc8ea	25	http://mbed.org/cookbook/HTTP-Server
botdream	0:fd56ae0fc8ea	26	http://mbed.org/cookbook/Ethernet
botdream	0:fd56ae0fc8ea	27	http://mbed.org/handbook/Ticker
botdream	0:fd56ae0fc8ea	28	//--------------------------------------------------------------------------------------------- */
botdream	0:fd56ae0fc8ea	29	#include "mbed.h"
botdream	0:fd56ae0fc8ea	30	#include "EthernetNetIf.h"
botdream	0:fd56ae0fc8ea	31	#include "HTTPServer.h"
botdream	0:fd56ae0fc8ea	32	#include "RPCFunction.h"
botdream	0:fd56ae0fc8ea	33	#include "Servo.h"
botdream	0:fd56ae0fc8ea	34	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	35	DigitalOut myled(LED1);
botdream	0:fd56ae0fc8ea	36	Serial pc(USBTX, USBRX); // tx, rx
botdream	0:fd56ae0fc8ea	37	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	38	//#define internaldebug // send debug messages to USB Serial port (9600,1,N)
botdream	0:fd56ae0fc8ea	39	//#define dhcpenable // auto-setup IP Address from DHCP router
botdream	0:fd56ae0fc8ea	40	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	41	// Timer Interrupt - NetPool
botdream	0:fd56ae0fc8ea	42	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	43	Ticker netpool;
botdream	0:fd56ae0fc8ea	44	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	45	// Ethernet Object Setup
botdream	0:fd56ae0fc8ea	46	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	47	#ifdef dhcpenable
botdream	0:fd56ae0fc8ea	48	EthernetNetIf eth;
botdream	0:fd56ae0fc8ea	49	#else
botdream	0:fd56ae0fc8ea	50	EthernetNetIf eth(
botdream	0:fd56ae0fc8ea	51	IpAddr(192,168,1,100), //IP Address
botdream	0:fd56ae0fc8ea	52	IpAddr(255,255,255,0), //Network Mask
botdream	0:fd56ae0fc8ea	53	IpAddr(192,168,1,254), //Gateway
botdream	0:fd56ae0fc8ea	54	IpAddr(192,168,1,254) //DNS
botdream	0:fd56ae0fc8ea	55	);
botdream	0:fd56ae0fc8ea	56	#endif
botdream	0:fd56ae0fc8ea	57	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	58	// HTTP Server
botdream	0:fd56ae0fc8ea	59	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	60	HTTPServer httpserver;
botdream	0:fd56ae0fc8ea	61	LocalFileSystem fs("webfs");
botdream	0:fd56ae0fc8ea	62
botdream	0:fd56ae0fc8ea	63	Servo servo1(p21);
botdream	0:fd56ae0fc8ea	64	Servo servo2(p22);
botdream	0:fd56ae0fc8ea	65
botdream	0:fd56ae0fc8ea	66	int8_t servo_flag;
botdream	0:fd56ae0fc8ea	67	float servo_cursor1;
botdream	0:fd56ae0fc8ea	68	float servo_cursor2;
botdream	0:fd56ae0fc8ea	69
botdream	0:fd56ae0fc8ea	70	int8_t pool_flag;
botdream	0:fd56ae0fc8ea	71	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	72
botdream	0:fd56ae0fc8ea	73	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	74	// ISR -> Pool Ethernet - will be triggered by netpool ticker
botdream	0:fd56ae0fc8ea	75	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	76	void netpoolupdate()
botdream	0:fd56ae0fc8ea	77	{
botdream	0:fd56ae0fc8ea	78	if(pool_flag !=0)
botdream	0:fd56ae0fc8ea	79	return;
botdream	0:fd56ae0fc8ea	80
botdream	0:fd56ae0fc8ea	81	pool_flag = 1; // start processing ...
botdream	0:fd56ae0fc8ea	82	Net::poll();
botdream	0:fd56ae0fc8ea	83	pool_flag = 0; // end processing ...
botdream	0:fd56ae0fc8ea	84	}
botdream	0:fd56ae0fc8ea	85	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	86
botdream	0:fd56ae0fc8ea	87	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	88	// Generic ServoCmd function
botdream	0:fd56ae0fc8ea	89	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	90	void servocmd(char input, char output, int8_t servonbr)
botdream	0:fd56ae0fc8ea	91	{
botdream	0:fd56ae0fc8ea	92	if(servo_flag != 0) // busy ...
botdream	0:fd56ae0fc8ea	93	{
botdream	0:fd56ae0fc8ea	94	#ifdef internaldebug
botdream	0:fd56ae0fc8ea	95	printf("ServoCmd%d is busy. Return from function!\r\n",servonbr);
botdream	0:fd56ae0fc8ea	96	#endif
botdream	0:fd56ae0fc8ea	97
botdream	0:fd56ae0fc8ea	98	return;
botdream	0:fd56ae0fc8ea	99	}
botdream	0:fd56ae0fc8ea	100	servo_flag = 1; // REST request
botdream	0:fd56ae0fc8ea	101
botdream	0:fd56ae0fc8ea	102	int iarg1 = 0;
botdream	0:fd56ae0fc8ea	103	sscanf(input, "%i", &iarg1);
botdream	0:fd56ae0fc8ea	104
botdream	0:fd56ae0fc8ea	105	#ifdef internaldebug
botdream	0:fd56ae0fc8ea	106	printf("Calling RCP Function ServoCmd%d.\r\n",servonbr);
botdream	0:fd56ae0fc8ea	107	//printf("INPUT: %s.\r\n", input);
botdream	0:fd56ae0fc8ea	108	//printf("OUTPUT: %s.\r\n", output);
botdream	0:fd56ae0fc8ea	109	printf("ARG1: %d\r\n", iarg1);
botdream	0:fd56ae0fc8ea	110	#endif
botdream	0:fd56ae0fc8ea	111
botdream	0:fd56ae0fc8ea	112	if(servonbr == 1)
botdream	0:fd56ae0fc8ea	113	{
botdream	0:fd56ae0fc8ea	114	servo_cursor1 = (float)iarg1/(float)100.0;
botdream	0:fd56ae0fc8ea	115	#ifdef internaldebug
botdream	0:fd56ae0fc8ea	116	sprintf(output, "<html><body>RCP ServoCmd1 Completed!<br>PARAM=%d<br>Cursor=%f</body></html>", iarg1, servo_cursor1);
botdream	0:fd56ae0fc8ea	117	#else
botdream	0:fd56ae0fc8ea	118	sprintf(output, "<html><body>OK</body></html>");
botdream	0:fd56ae0fc8ea	119	#endif
botdream	0:fd56ae0fc8ea	120
botdream	0:fd56ae0fc8ea	121	}
botdream	0:fd56ae0fc8ea	122	else if(servonbr == 2)
botdream	0:fd56ae0fc8ea	123	{
botdream	0:fd56ae0fc8ea	124	servo_cursor2 = (float)iarg1/(float)100.0;
botdream	0:fd56ae0fc8ea	125	#ifdef internaldebug
botdream	0:fd56ae0fc8ea	126	sprintf(output, "<html><body>RCP ServoCmd2 Completed!<br>PARAM=%d<br>Cursor=%f</body></html>", iarg1, servo_cursor2);
botdream	0:fd56ae0fc8ea	127	#else
botdream	0:fd56ae0fc8ea	128	sprintf(output, "<html><body>OK</body></html>");
botdream	0:fd56ae0fc8ea	129	#endif
botdream	0:fd56ae0fc8ea	130	}
botdream	0:fd56ae0fc8ea	131	else
botdream	0:fd56ae0fc8ea	132	{
botdream	0:fd56ae0fc8ea	133	#ifdef internaldebug
botdream	0:fd56ae0fc8ea	134	sprintf(output, "<html><body>RCP ServoCmd%d Error<br>PARAM=%d</body></html>", servonbr, iarg1);
botdream	0:fd56ae0fc8ea	135	#else
botdream	0:fd56ae0fc8ea	136	sprintf(output, "<html><body>ERROR</body></html>");
botdream	0:fd56ae0fc8ea	137	#endif
botdream	0:fd56ae0fc8ea	138	}
botdream	0:fd56ae0fc8ea	139
botdream	0:fd56ae0fc8ea	140	servo_flag = 2; // can now update servos
botdream	0:fd56ae0fc8ea	141	}
botdream	0:fd56ae0fc8ea	142	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	143	// RPC TList Commands (Task/Job List)
botdream	0:fd56ae0fc8ea	144	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	145	/*
botdream	0:fd56ae0fc8ea	146	void rpc_dummy(char input, char output)
botdream	0:fd56ae0fc8ea	147	{
botdream	0:fd56ae0fc8ea	148	// dummy!!!
botdream	0:fd56ae0fc8ea	149	}
botdream	0:fd56ae0fc8ea	150	//--------------------------------------------------------------------------------------------- */
botdream	0:fd56ae0fc8ea	151
botdream	0:fd56ae0fc8ea	152	void rpc_servocmd1(char input, char output)
botdream	0:fd56ae0fc8ea	153	{
botdream	0:fd56ae0fc8ea	154	servocmd(input, output, 1);
botdream	0:fd56ae0fc8ea	155	}
botdream	0:fd56ae0fc8ea	156	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	157
botdream	0:fd56ae0fc8ea	158	void rpc_servocmd2(char input, char output)
botdream	0:fd56ae0fc8ea	159	{
botdream	0:fd56ae0fc8ea	160	servocmd(input, output, 2);
botdream	0:fd56ae0fc8ea	161	}
botdream	0:fd56ae0fc8ea	162	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	163
botdream	0:fd56ae0fc8ea	164	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	165	// MAIN
botdream	0:fd56ae0fc8ea	166	//---------------------------------------------------------------------------------------------
botdream	0:fd56ae0fc8ea	167	int main()
botdream	0:fd56ae0fc8ea	168	{
botdream	0:fd56ae0fc8ea	169	// Set Serial Port Transfer Rate
botdream	0:fd56ae0fc8ea	170	pc.baud(115200);
botdream	0:fd56ae0fc8ea	171
botdream	0:fd56ae0fc8ea	172	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	173	servo_flag = 0; // 0-NOP; 1-REST request; 2-update servos;
botdream	0:fd56ae0fc8ea	174	servo_cursor1 = 0.5;
botdream	0:fd56ae0fc8ea	175	servo_cursor2 = 0.5;
botdream	0:fd56ae0fc8ea	176	servo1 = 0.5;
botdream	0:fd56ae0fc8ea	177	servo2 = 0.5;
botdream	0:fd56ae0fc8ea	178
botdream	0:fd56ae0fc8ea	179	pool_flag = 0;
botdream	0:fd56ae0fc8ea	180	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	181	// Setting Ethernet
botdream	0:fd56ae0fc8ea	182	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	183	#ifdef internaldebug
botdream	0:fd56ae0fc8ea	184	printf("\r\nSetting up Ethernet interface!\r\n");
botdream	0:fd56ae0fc8ea	185	#endif
botdream	0:fd56ae0fc8ea	186	// Create return object for error check
botdream	0:fd56ae0fc8ea	187	EthernetErr ethErr = eth.setup();
botdream	0:fd56ae0fc8ea	188	if(ethErr)
botdream	0:fd56ae0fc8ea	189	{
botdream	0:fd56ae0fc8ea	190	#ifdef internaldebug
botdream	0:fd56ae0fc8ea	191	printf("\r\nError %d in Ethernet setup.\r\n", ethErr);
botdream	0:fd56ae0fc8ea	192	#endif
botdream	0:fd56ae0fc8ea	193	return -1;
botdream	0:fd56ae0fc8ea	194	}
botdream	0:fd56ae0fc8ea	195	#ifdef internaldebug
botdream	0:fd56ae0fc8ea	196	printf("\r\nEthernet setup completed with success!\r\n");
botdream	0:fd56ae0fc8ea	197	#endif
botdream	0:fd56ae0fc8ea	198	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	199
botdream	0:fd56ae0fc8ea	200	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	201	// adding RPC functions
botdream	0:fd56ae0fc8ea	202	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	203	//RPCFunction RPCdummy(&rpc_dummy, "dummy");
botdream	0:fd56ae0fc8ea	204	RPCFunction RPCservocmd1(&rpc_servocmd1, "servocmd1");
botdream	0:fd56ae0fc8ea	205	RPCFunction RPCservocmd2(&rpc_servocmd2, "servocmd2");
botdream	0:fd56ae0fc8ea	206	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	207
botdream	0:fd56ae0fc8ea	208	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	209	// adding Handlers
botdream	0:fd56ae0fc8ea	210	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	211	FSHandler::mount("/webfs", "/"); //Mount /webfs path on web root path
botdream	0:fd56ae0fc8ea	212
botdream	0:fd56ae0fc8ea	213	httpserver.addHandler<RPCHandler>("/rpc");
botdream	0:fd56ae0fc8ea	214	httpserver.addHandler<FSHandler>("/"); //Default handler
botdream	0:fd56ae0fc8ea	215	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	216
botdream	0:fd56ae0fc8ea	217	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	218	// bind http server to port 80 (Listen)
botdream	0:fd56ae0fc8ea	219	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	220	httpserver.bind(80);
botdream	0:fd56ae0fc8ea	221	#ifdef internaldebug
botdream	0:fd56ae0fc8ea	222	printf("Listening on port 80!\r\n");
botdream	0:fd56ae0fc8ea	223	#endif
botdream	0:fd56ae0fc8ea	224	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	225
botdream	0:fd56ae0fc8ea	226	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	227	// ISR -> attach timer interrupt to update Net::Pool();
botdream	0:fd56ae0fc8ea	228	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	229	//netpool.attach(&netpoolupdate, 0.1);
botdream	0:fd56ae0fc8ea	230	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	231
botdream	0:fd56ae0fc8ea	232	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	233	// main loop
botdream	0:fd56ae0fc8ea	234	//--------------------------------------------------------
botdream	0:fd56ae0fc8ea	235	while(1)
botdream	0:fd56ae0fc8ea	236	{
botdream	0:fd56ae0fc8ea	237	/*
botdream	0:fd56ae0fc8ea	238	myled = 1;
botdream	0:fd56ae0fc8ea	239	wait(0.5);
botdream	0:fd56ae0fc8ea	240	myled = 0;
botdream	0:fd56ae0fc8ea	241	wait(0.5);
botdream	0:fd56ae0fc8ea	242	*/
botdream	0:fd56ae0fc8ea	243
botdream	0:fd56ae0fc8ea	244	if(servo_flag == 2) // update servos
botdream	0:fd56ae0fc8ea	245	{
botdream	0:fd56ae0fc8ea	246	#ifdef internaldebug
botdream	0:fd56ae0fc8ea	247	printf("Updating Servos!\r\n");
botdream	0:fd56ae0fc8ea	248	#endif
botdream	0:fd56ae0fc8ea	249
botdream	0:fd56ae0fc8ea	250	servo1.write(servo_cursor1);
botdream	0:fd56ae0fc8ea	251	servo2.write(servo_cursor2);
botdream	0:fd56ae0fc8ea	252	servo_flag = 0; // NOP
botdream	0:fd56ae0fc8ea	253	}
botdream	0:fd56ae0fc8ea	254	wait(0.1);
botdream	0:fd56ae0fc8ea	255	netpoolupdate();
botdream	0:fd56ae0fc8ea	256	}
botdream	0:fd56ae0fc8ea	257	}
botdream	0:fd56ae0fc8ea	258	//---------------------------------------------------------------------------------------------

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Type:	Program
Created:	27 Oct 2011
Imports:	42
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	5
Followers:	1

main.cpp@0:fd56ae0fc8ea, 2011-10-27 (annotated)

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