Diff: main.cpp

Revision:

0:a76470827116

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 16 00:52:05 2016 +0000
@@ -0,0 +1,227 @@
+/*------------------------------------------------------------------------------------*/
+/*  Ethernet UDP Server (to be used with Ethernet_UDP_client)                         */
+/*------------------------------------------------------------------------------------*/
+
+/*--COMPANY-----AUTHOR------DATE------------REVISION----NOTES-------------------------*/
+/*  NXP         mareikeFSL  2015.12.23      rev 1.0     initial                       */
+/*                                                                                    */
+/*------------------------------------------------------------------------------------*/
+/*  This "Hello World" program is used in conjunction with the Ethernet_UDP_client    */
+/*  program. It communicates between two FRDM-K64F boards via the Ethernet protocol.  */
+/*  To use this program, you need to do the following:                                */
+/*      - Connect an Ethernet cable between two FRDM-K64F boards (a crossover cable   */
+/*        is not required).                                                           */
+/*      - Flash one board with Ethernet_UDP_client and the other with                 */
+/*        Ethernet_UDP_server                                                         */
+/*      - [optional] If you would like to see the "Hello World" output on your        */
+/*        monitor, install and open a terminal. Tera Term is used in the Wiki for     */
+/*        this program.                                                               */
+/*------------------------------------------------------------------------------------*/
+
+
+/*--INCLUDES----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "EthernetInterface.h"
+#include "SDFileSystem.h"
+#include "wave_player.h"
+#include "Servo.h"
+#include "LidarLitev2.h"
+#include "rtos.h"
+#include "eth_arch.h"
+/*--DEFINES-----------------------------------------------------------------------------*/
+#define SWEEP_TIME .1
+
+
+/*--CONSTANTS---------------------------------------------------------------------------*/
+Queue<uint32_t, 5> queue;
+const int PORT = 7;                             //arbitrary port
+
+static const char* SERVER_IP = "192.168.1.101"; //IP of server board
+static const char* MASK = "255.255.255.0";      //mask
+static const char* GATEWAY = "192.168.1.1";     //gateway
+
+
+/*--INITS-------------------------------------------------------------------------------*/
+Serial pc(USBTX, USBRX);        //create PC interface
+EthernetInterface eth;          //create ethernet
+UDPSocket server;               //creat server
+Endpoint client;                //create endpoint
+
+DigitalOut alarmconfirm(PTD0);
+DigitalIn alarmcheckpin(PTD1);
+DigitalOut red(LED_RED);        //debug led
+DigitalOut green(LED_GREEN);    //debug led
+DigitalOut led(D12);
+SDFileSystem sd(PTE3,PTE1, PTE2, PTE4, "sd"); //SD card
+
+AnalogOut DACout(DAC0_OUT);
+
+wave_player waver(&DACout);
+
+
+Timer dt;
+/*--VARIABLES---------------------------------------------------------------------------*/
+int n;                  //size of received message
+char counter[1] = {0};  //sample receive/send buffer
+int i=0;
+int sweep_flag =0;
+int waiting_answer = 0;
+Ticker flashes;
+//Ticker IO;
+
+int someflag=0;
+ FILE *wave_file;
+/*--FUNCTION DECLARATIONS---------------------------------------------------------------*/
+int sensoralarmcheck(void);
+void alarmCheck(char x);
+void alarmLight(void);
+void alarmSound(void);
+void init_usb(void);    //initializes pc.printf if required
+void init_eth(void);    //initializes Ethernet
+void receive(void);     //receives packets
+void queue_isr();
+int main(void);         //main
+void flashingstuff();
+
+
+/*--FUNCTION DEFINITIONS----------------------------------------------------------------*/
+/****************************************************************************************/
+void flashingstuff(){
+    if ((someflag==1) || (red==0)){
+        red=!red;
+        led=!led;
+    }  
+    }
+/*queue_thread**************************************************************************/
+
+
+/*****************************************************************************INIT_USB***/
+void init_usb(void)
+{
+    pc.baud(9600);    //baud
+    
+}   //end init_usb()
+
+/*****************************************************************************INIT_ETH***/
+void init_eth(void)
+{
+    pc.printf("Initializing Ethernet\r\n");
+    eth.init(SERVER_IP, MASK, GATEWAY);                                         //set up IP
+    eth.connect();                                                              //connect ethernet
+    pc.printf("\nSERVER - Server IP Address is %s\r\n", eth.getIPAddress());    //get server IP address;
+    
+    server.bind(PORT);                                                          //bind server
+    pc.printf("Initialization Complete\n\r");    
+}   //end init_eth()
+
+/******************************************************************************RECEIVE***/
+void receive(void)
+{ 
+   int herewego=0;
+     
+     pc.printf("\nSERVER - Waiting for UDP packet...\r\n");                                      //wait for packet
+    n = server.receiveFrom(client, counter, sizeof(counter));                                   //receive message from client
+    counter[n] = '\0';                                                                          //add \0 to end of message
+    
+   
+    pc.printf("SERVER - Received '%i' from client %s\r\n", counter[0], client.get_address());   //print message and client
+    alarmCheck(counter[0]);
+  herewego = sensoralarmcheck();
+ 
+    if (herewego==1||waiting_answer==1){
+        waiting_answer =1;
+        printf("Lidar Caught something\r\n");
+        counter[0]='z';
+         }
+    pc.printf("SERVER - Sending '%i' back to client %s\r\n", counter[0], client.get_address()); //print sending back
+    wait(.5f);
+   
+    server.sendTo(client, counter, n);            
+                                                  //send message
+  }   //end receive()
+
+/***Alarm Check***************************************************************************/
+void alarmCheck(char x){
+  pc.printf("\n\rInto alarm check\r\n");
+    if (x == 'x') {
+        alarmconfirm =0;
+        waiting_answer=0;
+        someflag=0;
+        }
+    if (x!='b') return;
+    alarmLight();
+    alarmSound();
+    
+ }
+ 
+ 
+ 
+ 
+/**Alarm_Sound****************************************************************************/
+
+void alarmSound(void){
+    
+        if (i==0){
+        wave_file=fopen("/sd/intuder_detected.wav","r");
+        } 
+        else if (i==1){
+             wave_file=fopen("/sd/alarm.wav","r");
+             }
+             else if(i==2){
+                  wave_file=fopen("/sd/20seconds.wav","r");
+                  }
+                  else if (i==3){
+                       wave_file=fopen("/sd/dangerous.wav","r");
+                       }
+                       else if (i==4){
+                            wave_file=fopen("/sd/searching.wav","r");
+                            }
+                            else if (i==5){
+                                 wave_file=fopen("/sd/scanning.wav","r");
+                                 }
+           
+             
+        waver.play(wave_file);
+        fclose(wave_file);
+        i++;
+        if(i>=6){
+            i=0;
+            }
+        }
+       
+            
+/**Alarm_lights**************************************************************************/
+void alarmLight(void){
+    
+     someflag = 1;
+           wait(0.1f);
+     }
+    
+/***lidarSweep****************************************************************************/
+   int sensoralarmcheck(void){
+   if (alarmcheckpin){
+       alarmLight();
+       alarmSound();
+       return 1;
+       }
+       return 0;
+       }
+/*********************************************************************************MAIN***/
+int main(void)
+{
+
+    red = 1;
+    green = 0;      //server
+
+    init_usb();     //initialize the PC interface
+    init_eth();     //initialize the Ethernet connection
+     flashes.attach(&flashingstuff,.1);
+
+    while (true)    //repeat forever
+    {        
+           
+             receive();  //wait for message
+       
+    }
+
+}   //end main()