Revision 5:fdacb4ef6709, committed 2019-10-30

Comitter:

brainliang

Date:

Wed Oct 30 10:59:58 2019 +0000

Parent:

4:652d2be11b35

Commit message:

encoder PID PCA9685 esp8266

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/esp8266.cpp	Wed Oct 30 10:59:58 2019 +0000
@@ -0,0 +1,265 @@
+/***************************************************************
+功能 : ESP8266物联车接口函数
+作者 : 马晓健
+邮箱 : jeasinema[at]gmail[dot]com
+声明 : 
+本程序仅供学习与交流使用,如需他用,须联系作者
+本程序可以随意更改,但须保留本信息页
+All rights reserved
+2017.6.16
+***************************************************************/
+#ifdef ENABLE_ESP8266
+
+#include "esp8266.h"
+
+#include <cstdarg>
+#include <cstring>
+#include <stdint.h>
+#include "mbed.h"
+
+extern Serial ser2usb;
+
+static int ser_baud = 9600;
+
+//定义了一个调试的宏,C语言语法
+#define ESP_CMD(format, ...)                         \
+    do                                               \
+    {                                                \
+        char cmdbuf[128], *p;                        \
+        ser2esp8266.printf("\r");                    \
+        sprintf(cmdbuf, format "\r", ##__VA_ARGS__); \
+        for (p = cmdbuf; *p; p++)                    \
+        {                                            \
+            ser2esp8266.putc(*p);                    \
+            wait(0.02);                              \
+        }                                            \
+        wait(0.3);                                   \
+    } while (0)
+
+
+
+void Esp8266::gotResponse(char *token, char *param)
+{
+    if(*token<'a' || *token>'z') return;
+    //ser2usb.printf("gotResponse %s %s\r\n", token, param);
+    if(strcmp(token, "connected") == 0)
+        mqtt_start = true;
+    else if(strcmp(token, "control") == 0){
+        if(!control_cmd){
+            strncpy(control_buf, param, sizeof(control_buf));
+            control_cmd = true;
+        }
+    }
+    else if(strcmp(token, "wifi") == 0){
+        if(*param == '5')
+            network_start = true;
+    }
+}
+
+bool Esp8266::get_control_cmd(char* actuator, char* value)
+{
+    if(!control_cmd)
+        return false;
+    
+    char* plus = strchr(control_buf, '+');
+    if(!plus){
+        control_cmd = false;
+        return false;
+    }
+    *plus = '\0';
+    strcpy(actuator, control_buf);
+    strcpy(value, plus+1);
+    control_cmd = false;
+    return true;
+}
+
+// 接收 esp8266 侧数据的回调函数, 每次仅接收一个8位字符
+// 数据格式约定: #token+data
+void Esp8266::esp8266_rxCallback() {
+    char in = ser2esp8266.getc();
+//  ser2usb.putc(in);
+    enum{STATE_WAIT, STATE_TOKEN, STATE_PARAM};
+    static uint8_t state = STATE_WAIT;
+    static int tokenLen, paramLen;
+    switch(state){
+    case STATE_WAIT:
+        if(in == '#'){
+            tokenLen = 0;
+            state = STATE_TOKEN;
+        }
+        break;
+    case STATE_TOKEN:
+        if(in == '+' || in == '\r' || in == '\n'){
+            esp_tokenBuf[tokenLen] = '\0';
+            if(in == '+'){
+                paramLen = 0;
+                state = STATE_PARAM;
+            }else{
+                gotResponse(esp_tokenBuf, NULL);
+                //memcpy(esp_token, esp_tokenBuf, tokenLen);
+                //esp_token[tokenLen] = '\0';
+                esp_buf_ready = true;
+                state = STATE_WAIT;
+            }
+        }else if(tokenLen+1 < sizeof(esp_tokenBuf)){
+            esp_tokenBuf[tokenLen++] = in;
+        }
+        break;
+    case STATE_PARAM:
+        if(in == '\r' || in == '\n'){
+            esp_paramBuf[paramLen] = '\0';
+            gotResponse(esp_tokenBuf, esp_paramBuf);
+            //memcpy(esp_token, esp_tokenBuf, tokenLen);
+            //memcpy(esp_param, esp_paramBuf, paramLen);
+            //esp_token[tokenLen] = '\0';
+            //esp_param[paramLen] = '\0';
+            //ser2usb.putc('?');
+            esp_buf_ready = true;
+            state = STATE_WAIT;
+        }else if(paramLen+1 < sizeof(esp_paramBuf)){
+            esp_paramBuf[paramLen++] = in;
+        }
+        break;
+    }
+}
+
+
+Esp8266::Esp8266(PinName TX, PinName RX, const char *wifi_ssid, const char *wifi_passwd)       //定义类的函数
+    : network_start(false), mqtt_start(false), control_cmd(false), esp_buf_ready(false), ser2esp8266(TX, RX)
+{
+    // serial to esp8266 init
+    ser2esp8266.baud(ser_baud);
+    //ser2usb.printf("connecting to wifi\r\n");
+    ser2esp8266.attach(callback(this, &Esp8266::esp8266_rxCallback), Serial::RxIrq);    
+    //if (mode == 0) {                                                            // client mode 
+        this->reset();
+        this->connect_wifi(wifi_ssid, wifi_passwd);
+        while(!is_connected()){
+            //ser2usb.printf("connecting...\r\n");
+            wait(0.5);
+        }
+        //ser2usb.printf("connected\r\n");
+        this->weblogin();
+    //} else {
+    //    
+    //}
+}
+
+bool Esp8266::reset() {                                                         //定义类的函数
+    ESP_CMD("node.restart()");
+    wait(2);                                                                    // 延迟2s
+    return true;
+}   
+
+bool Esp8266::connect_wifi(const char *wifi_ssid, const char *wifi_passwd) {                                                  //定义类的函数
+    ESP_CMD("wifi.setmode(wifi.STATION)");
+    ESP_CMD("wifi.sta.config([[%s]],[[%s]])", wifi_ssid, wifi_passwd);
+    wait(2);
+    // set auto autoconnect
+    ESP_CMD("wifi.sta.autoconnect(1)");
+    return true;
+}
+
+bool Esp8266::is_connected()
+{
+    ESP_CMD("print('\\035wifi+'..wifi.sta.status())");
+    wait(0.4);
+    return network_start;
+}
+
+bool Esp8266::weblogin() {                                                      //定义类的函数
+    // not implemented yet
+    return true;
+}
+
+void Esp8266::buildCapability(char *out, const char* infoList[][2])
+{
+    out[0] = '\0';
+    for (int i = 0; infoList[i][0]; ++i)
+    {
+        strcat(out, infoList[i][0]);
+        strcat(out, ",");
+        strcat(out, infoList[i][1]);
+        strcat(out, "\\n");
+    }
+}
+
+bool Esp8266::connect_mqtt_broker(const char *ip, const char *node_name, const char* sensors[][2], const char* actuator[][2]) 
+{  //定义类的函数
+
+    ESP_CMD("node_name = '%s'", node_name);
+    ESP_CMD("m = mqtt.Client('i_' .. node.chipid(), 120)");
+    ESP_CMD("m:connect(\"%s\",1883,0,function(conn)print (\"\\035connected\"); end)", ip);
+
+    do{    
+        wait(0.5);
+    }while(!mqtt_start);
+
+    ESP_CMD("m:on(\"message\", function(conn, topic, data)");
+    ESP_CMD("if topic:find(\"^/control/\") then");
+    ESP_CMD("local tok = topic:match(\"^/control/.+/(.+)\")");
+    ESP_CMD("if tok then print(\"\\035control+\"..tok..\"+\"..data) end");
+    ESP_CMD("end");
+    ESP_CMD("end)");
+
+    ESP_CMD("m:publish('/events/'..node_name..'/online','',1,0)");
+    wait(0.1);
+
+    char * capabilities = new char[512];
+
+    if(sensors){
+        buildCapability(capabilities, sensors);
+        ESP_CMD("m:publish('/capability/'..node_name..'/values','%s',1,1)", capabilities);
+        wait(0.1);
+    }
+    if(actuator){
+        buildCapability(capabilities, actuator);
+        ESP_CMD("m:publish('/capability/'..node_name..'/control','%s',1,1)", capabilities);
+        wait(0.1);
+        for (int i = 0; actuator[i][0]; ++i)
+            {
+                //ser2usb.printf("subscribe topic \"%s\"\r\n", actuator[i][0]);
+                subscribe_control(actuator[i][0]);
+            }
+    }
+
+    delete[ ] capabilities;
+
+    return true;
+}
+    
+bool Esp8266::publish_value(const char *topic, std::string data) {                      //定义类的函数
+    //if (mqtt_start) {
+        ESP_CMD("m:publish('/values/'..node_name..'/%s',\"%s\",0,0)", topic, data.c_str());//
+        wait(0.1);
+    //}
+    return true;
+}
+    
+bool Esp8266::publish_value(const char *topic, int data) {                      //定义类的函数
+    //if (mqtt_start) {
+        ESP_CMD("m:publish('/values/'..node_name..'/%s',\"%d\",0,0)", topic, data);//
+        wait(0.1);
+    //}
+    return true;
+}
+    
+bool Esp8266::publish_value(const char *topic, float data) {                      //定义类的函数
+    //if (mqtt_start) {
+        ESP_CMD("m:publish('/values/'..node_name..'/%s',\"%f\",0,0)", topic, data);//
+        wait(0.1);
+    //}
+    return true;
+}
+
+bool Esp8266::subscribe_control(const char *topic, const char *data) {               //定义类的函数
+    //if (mqtt_start) {
+        ESP_CMD("m:subscribe('/control/'..node_name..'/%s', 0)", topic);
+        wait(0.1);
+    //}
+
+    // ESP_CMD("m:unsubscribe(\"%s\")", topic);
+    return true;
+}
+
+#endif  // ENABLE_ESP8266

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/esp8266.h	Wed Oct 30 10:59:58 2019 +0000
@@ -0,0 +1,53 @@
+/**
+ * 调用本驱动库需要使能
+ * 在mbed_config.h中define一下ENABLE_ESP8266即可
+ **/
+#ifndef __ESP8266_H
+#define __ESP8266_H
+
+#ifdef ENABLE_ESP8266
+
+#include "mbed.h"
+#include <string>
+
+class Esp8266 {                                                                 //声明一个类
+    volatile bool network_start;
+    volatile bool mqtt_start;
+    volatile bool control_cmd;
+    char esp_tokenBuf[32], esp_paramBuf[32];   // recv from esp8266
+    char control_buf[32];
+    bool esp_buf_ready;
+    Serial ser2esp8266;
+    
+protected:
+    void esp8266_rxCallback();
+    void gotResponse(char *token, char *param);
+    void buildCapability(char *out, const char* infoList[][2]);
+public:
+    Esp8266(PinName TX, PinName RX, const char *wifi_ssid, const char *wifi_passwd);
+    
+    // 通用
+    bool reset();
+    
+    // 连接模式
+    bool connect_wifi(const char *wifi_ssid, const char *wifi_passwd);
+    bool weblogin();
+    bool connect_mqtt_broker(const char *ip, const char *node_name, const char* sensors[][2], const char* actuator[][2]);
+    bool is_connected();
+    
+    bool publish_value(const char *topic, std::string data);
+    bool publish_value(const char *topic, int data);
+    bool publish_value(const char *topic, float data);
+    bool subscribe_control(const char *topic, const char *data = NULL);
+    bool is_control_available(void) { return control_cmd; }
+    bool get_control_cmd(char* actuator, char* value);
+    // 热点模式
+};
+
+#else
+
+    #error esp8266.h is included but "ENABLE_ESP8266" is not defined, check mbed_config.h for detail
+
+#endif  // ENABLE_ESP8266
+
+#endif  // !__ESP8266_H