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amazon distribution center
Dependencies: ISL29125 Motor mbed
main.cpp
- Committer:
- elirobelo
- Date:
- 2017-05-02
- Revision:
- 0:3bde34c58439
File content as of revision 0:3bde34c58439:
// ESP8266 Static page WEB server to control Mbed #include "mbed.h" #include "ISL29125.h" #include "Motor.h" Serial pc(USBTX, USBRX); Serial esp(p9, p10); // tx, rx ISL29125 RGBsensor(p28, p27); //PwmOut m(p23); Motor m(p23, p5, p6); // Standard Mbed LED definitions DigitalOut led1(LED1); DigitalOut led2(LED2); DigitalOut led3(LED3); DigitalOut led4(LED4); //Solenoids DigitalOut sol1(p11); DigitalOut sol2(p12); DigitalOut sol3(p13); DigitalOut sol4(p14); //Sensors AnalogIn sen1(p17); AnalogIn sen2(p18); AnalogIn sen3(p19); AnalogIn sen4(p20); char ssid[32] = "WifiRouter"; // enter WiFi router ssid inside the quotes char pwd [32] = "password"; // enter WiFi router password inside the quotes bool correct = false; int color; int sensorValue; int direction; Ticker als; uint16_t GRBdata[3]; bool data_present; float temperature, AdcIn, Ht; float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage char Vcc[10]; char Temp[10]; // things for sending/receiving data over serial volatile int tx_in=0; volatile int tx_out=0; volatile int rx_in=0; volatile int rx_out=0; const int buffer_size = 4095; char tx_buffer[buffer_size+1]; char rx_buffer[buffer_size+1]; void Tx_interrupt(); void Rx_interrupt(); void send_line(); void read_line(); int DataRX; int update; int count; char cmdbuff[1024]; char replybuff[4096]; char webdata[4096]; // This may need to be bigger depending on WEB browser used char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added char timebuf[30]; void SendCMD(),getreply(),ReadWebData(),startserver(); void gettime(),setRTC(); //,gettemp(),getbattery(); char rx_line[1024]; int port =80; // set server port int SERVtimeout =5; // set server timeout in seconds in case link breaks. struct tm t; // manual set RTC values int minute =00; // 0-59 int hour =12; // 2-23 int dayofmonth =26; // 1-31 int month =8; // 1-12 int year =15; // last 2 digits int checkColorSensor() { while (1) { data_present = RGBsensor.Read(ISL29125_RGB, GRBdata); if(data_present) printf("RGB : %04X-%04X-%04X\r\n", GRBdata[1], GRBdata[0], GRBdata[2]); // if (GRBdata[1] < 0x02F0 && GRBdata[1] > 0x0210 && GRBdata[0] > 0x0120 && GRBdata[0] < 0x01F0 && GRBdata[2] < 0x0180 && GRBdata[2] > 0x00D0) { // return 1; //red // } // if (GRBdata[1] < 0x0210 && GRBdata[1] > 0x0100 && GRBdata[0] > 0x0100 && GRBdata[0] < 0x0200 && GRBdata[2] < 0x0190 && GRBdata[2] > 0x00CF) { // return 3; //blue // } if (GRBdata[1] < 0x00E0 && GRBdata[1] > 0x0060 && GRBdata[0] < 0x00F0 && GRBdata[0] > 0x0020 && GRBdata[2] < 0x00B0 && GRBdata[0] > 0x0040) { return 3; //blue } if (GRBdata[1] < 0x0170 && GRBdata[1] > 0x00D0 && GRBdata[0] < 0x0120 && GRBdata[0] > 0x0040 && GRBdata[2] > 0x0030 && GRBdata[2] < 0x00A0) { return 1; //red } } } int main() { pc.baud(9600); esp.baud(9600); led1=1,led2=0,led3=0, led4=0; m.speed(.7); //m = .5; // Setup a serial interrupt function to receive data esp.attach(&Rx_interrupt, Serial::RxIrq); // Setup a serial interrupt function to transmit data esp.attach(&Tx_interrupt, Serial::TxIrq); if (time(NULL) < 1420070400) { setRTC(); } startserver(); DataRX=0; count=0; while(1) { if(DataRX==1) { ReadWebData(); esp.attach(&Rx_interrupt, Serial::RxIrq); } if(update==1) // update time, hit count, and analog levels in the HUZZAH chip { // get new values gettime(); count++; // send new values sprintf(cmdbuff, "count,time,analog1,analog2=%d,\"%s\",\"%s\",\"%s\"\r\n",count,timebuf,Temp,Vcc); SendCMD(); getreply(); update=0; } if (color != 0 && direction != 0) { while(!correct){ sensorValue = checkColorSensor(); if (sensorValue == color) { correct = true; color = 0; } } while(correct) { printf("percentage Sensor1: %3.3f%%\r\n", sen1.read()); printf("percentage Sensor2: %3.3f%%\r\n", sen2.read()); printf("percentage Sensor3: %3.3f%%\r\n", sen3.read()); printf("percentage Sensor4: %3.3f%%\r\n", sen4.read()); printf("direction: %d\r\n", direction); if (direction == 1 && sen1.read() < .82) { sol4 = 1; wait(1); correct = false; } if (direction == 2 && sen2.read() < .83) { sol3 = 1; wait(1); correct = false; } if (direction == 3 && sen3.read() < .815) { sol2 = 1; wait(1); correct = false; } if (direction == 4 && sen4.read() < .81) { sol1 = 1; wait(1); correct = false; } } } sol1 = 0; sol2 = 0; sol3 = 0; sol4 = 0; direction = 0; } } // Reads and processes GET and POST web data void ReadWebData() { wait_ms(200); esp.attach(NULL,Serial::RxIrq); DataRX=0; memset(webdata, '\0', sizeof(webdata)); strcpy(webdata, rx_buffer); memset(rx_buffer, '\0', sizeof(rx_buffer)); rx_in = 0; rx_out = 0; // check web data for form information if( strstr(webdata, "box=r") != NULL ) { //check for red color = 1; // while(!correct) { // color = checkColorSensor(); // if (color == 1) correct = true; // } //correct = true; led1=!led1; } // if( strstr(webdata, "box=g") != NULL ) { // color = 2; //// while(!correct) { //// color = checkColorSensor(); //// if (color == 2) correct = true; //// } // //check for green // led2=!led2; // } if( strstr(webdata, "box=b") != NULL ) { //check for blue color = 3; // while(!correct) { // color = checkColorSensor(); // if (color == 3) correct = true; // } led3=!led3; } if( strstr(webdata, "direction=north") != NULL ) { led4=!led4; direction = 1; // while(correct) { // if (sen1.read() < .8) { // //wait(.2); // sol1 = 1; // correct = false; // } // } // sol1 = false; } if( strstr(webdata, "direction=south") != NULL ) { led4=!led4; direction = 2; // while(correct) { // if (sen2.read() < .8) { // //wait(.2); // sol2 = 1; // correct = false; // } // } // sol2 = false; } if( strstr(webdata, "direction=east") != NULL ) { led4=!led4; direction = 3; // while(correct) { // if (sen3.read() < .8) { // //wait(.2); // sol3 = 1; // correct = false; // } // } } if( strstr(webdata, "direction=west") != NULL ) { led4=!led4; direction = 4; // while(correct) { // if (sen4.read() < .8) { // //wait(.2); // sol4 = 1; // correct = false; // } // } // sol4 = 0; } if( strstr(webdata, "POST") != NULL ) { // set update flag if POST request update=1; } if( strstr(webdata, "GET") != NULL && strstr(webdata, "favicon") == NULL ) { // set update flag for GET request but do not want to update for favicon requests update=1; } } // Starts webserver void startserver() { gettime(); //gettemp(); //getbattery(); pc.printf("++++++++++ Resetting ESP ++++++++++\r\n"); strcpy(cmdbuff,"node.restart()\r\n"); SendCMD(); wait(2); getreply(); pc.printf("\n++++++++++ Starting Server ++++++++++\r\n> "); // initial values sprintf(cmdbuff, "count,time,analog1,analog2=0,\"%s\",\"%s\",\"%s\"\r\n",timebuf,Temp,Vcc); SendCMD(); getreply(); wait(0.5); //create server sprintf(cmdbuff, "srv=net.createServer(net.TCP,%d)\r\n",SERVtimeout); SendCMD(); getreply(); wait(0.5); strcpy(cmdbuff,"srv:listen(80,function(conn)\r\n"); SendCMD(); getreply(); wait(0.3); strcpy(cmdbuff,"conn:on(\"receive\",function(conn,payload) \r\n"); SendCMD(); getreply(); wait(0.3); //print data to mbed strcpy(cmdbuff,"print(payload)\r\n"); SendCMD(); getreply(); wait(0.2); //web page data strcpy(cmdbuff,"conn:send('<!DOCTYPE html><html><body><h1>Checkout</h1>')\r\n"); SendCMD(); getreply(); wait(0.4); strcpy(cmdbuff,"conn:send('Hit count: '..count..'')\r\n"); SendCMD(); getreply(); wait(0.2); strcpy(cmdbuff,"conn:send('<br>Last hit (based on mbed RTC time): '..time..'<br><hr>')\r\n"); SendCMD(); getreply(); wait(0.4); strcpy(cmdbuff, "conn:send('<p><h2>Choose a Package Option</h2><ul>')\r\n"); SendCMD(); getreply(); wait(0.5); strcpy(cmdbuff,"conn:send('<form method=\"POST\"')\r\n"); SendCMD(); getreply(); wait(0.3); //Package Options strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"box\" value=\"r\" checked> Red')\r\n"); SendCMD(); getreply(); wait(0.3); strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"box\" value=\"b\" > Blue')\r\n"); SendCMD(); getreply(); wait(0.3); // strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"box\" value=\"g\" > Green')\r\n"); // SendCMD(); // getreply(); // wait(0.3); //Direction Options strcpy(cmdbuff, "conn:send('<br><p><h2>What direction?</h2><ul>')\r\n"); SendCMD(); getreply(); wait(0.5); strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"direction\" value=\"north\" checked> North')\r\n"); SendCMD(); getreply(); wait(0.3); strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"direction\" value=\"south\" > South')\r\n"); SendCMD(); getreply(); wait(0.3); strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"direction\" value=\"east\" > East')\r\n"); SendCMD(); getreply(); wait(0.3); strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"direction\" value=\"west\" > West')\r\n"); SendCMD(); getreply(); wait(0.3); //Submit button strcpy(cmdbuff,"conn:send('<p><input type=\"submit\" value=\"send-refresh\"></form>')\r\n"); SendCMD(); getreply(); wait(0.3); // End web page data strcpy(cmdbuff, "conn:on(\"sent\",function(conn) conn:close() end)\r\n"); // close current connection SendCMD(); getreply(); wait(0.3); strcpy(cmdbuff, "end)\r\n"); SendCMD(); getreply(); wait(0.2); strcpy(cmdbuff, "end)\r\n"); SendCMD(); getreply(); wait(0.2); strcpy(cmdbuff, "tmr.alarm(0, 1000, 1, function()\r\n"); SendCMD(); getreply(); wait(0.2); strcpy(cmdbuff, "if wifi.sta.getip() == nil then\r\n"); SendCMD(); getreply(); wait(0.2); strcpy(cmdbuff, "print(\"Connecting to AP...\\n\")\r\n"); SendCMD(); getreply(); wait(0.2); strcpy(cmdbuff, "else\r\n"); SendCMD(); getreply(); wait(0.2); strcpy(cmdbuff, "ip, nm, gw=wifi.sta.getip()\r\n"); SendCMD(); getreply(); wait(0.2); strcpy(cmdbuff,"print(\"IP Address: \",ip)\r\n"); SendCMD(); getreply(); wait(0.2); strcpy(cmdbuff,"tmr.stop(0)\r\n"); SendCMD(); getreply(); wait(0.2); strcpy(cmdbuff,"end\r\n"); SendCMD(); getreply(); wait(0.2); strcpy(cmdbuff,"end)\r\n"); SendCMD(); getreply(); wait(0.2); pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n"); } // ESP Command data send void SendCMD() { int i; char temp_char; bool empty; i = 0; // Start Critical Section - don't interrupt while changing global buffer variables NVIC_DisableIRQ(UART1_IRQn); empty = (tx_in == tx_out); while ((i==0) || (cmdbuff[i-1] != '\n')) { // Wait if buffer full if (((tx_in + 1) % buffer_size) == tx_out) { // End Critical Section - need to let interrupt routine empty buffer by sending NVIC_EnableIRQ(UART1_IRQn); while (((tx_in + 1) % buffer_size) == tx_out) { } // Start Critical Section - don't interrupt while changing global buffer variables NVIC_DisableIRQ(UART1_IRQn); } tx_buffer[tx_in] = cmdbuff[i]; i++; tx_in = (tx_in + 1) % buffer_size; } if (esp.writeable() && (empty)) { temp_char = tx_buffer[tx_out]; tx_out = (tx_out + 1) % buffer_size; // Send first character to start tx interrupts, if stopped esp.putc(temp_char); } // End Critical Section NVIC_EnableIRQ(UART1_IRQn); return; } // Get Command and ESP status replies void getreply() { read_line(); sscanf(rx_line,replybuff); } // Read a line from the large rx buffer from rx interrupt routine void read_line() { int i; i = 0; // Start Critical Section - don't interrupt while changing global buffer variables NVIC_DisableIRQ(UART1_IRQn); // Loop reading rx buffer characters until end of line character while ((i==0) || (rx_line[i-1] != '\r')) { // Wait if buffer empty if (rx_in == rx_out) { // End Critical Section - need to allow rx interrupt to get new characters for buffer NVIC_EnableIRQ(UART1_IRQn); while (rx_in == rx_out) { } // Start Critical Section - don't interrupt while changing global buffer variables NVIC_DisableIRQ(UART1_IRQn); } rx_line[i] = rx_buffer[rx_out]; i++; rx_out = (rx_out + 1) % buffer_size; } // End Critical Section NVIC_EnableIRQ(UART1_IRQn); rx_line[i-1] = 0; return; } // Interupt Routine to read in data from serial port void Rx_interrupt() { DataRX=1; //led3=1; // Loop just in case more than one character is in UART's receive FIFO buffer // Stop if buffer full while ((esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) { rx_buffer[rx_in] = esp.getc(); // Uncomment to Echo to USB serial to watch data flow pc.putc(rx_buffer[rx_in]); rx_in = (rx_in + 1) % buffer_size; } //led3=0; return; } // Interupt Routine to write out data to serial port void Tx_interrupt() { //led2=1; // Loop to fill more than one character in UART's transmit FIFO buffer // Stop if buffer empty while ((esp.writeable()) && (tx_in != tx_out)) { esp.putc(tx_buffer[tx_out]); tx_out = (tx_out + 1) % buffer_size; } //led2=0; return; } void gettime() { time_t seconds = time(NULL); strftime(timebuf,50,"%H:%M:%S %a %d %b %y", localtime(&seconds)); } void setRTC() { t.tm_sec = (0); // 0-59 t.tm_min = (minute); // 0-59 t.tm_hour = (hour); // 0-23 t.tm_mday = (dayofmonth); // 1-31 t.tm_mon = (month-1); // 0-11 "0" = Jan, -1 added for Mbed RCT clock format t.tm_year = ((year)+100); // year since 1900, current DCF year + 100 + 1900 = correct year set_time(mktime(&t)); // set RTC clock } //void ALSread() //{ // data_present = RGBsensor.Read(ISL29125_RGB, GRBdata); // if(data_present) printf("RGB : %04X-%04X-%04X\r\n", GRBdata[1], GRBdata[0], GRBdata[2]); // if(Overflow) // { // printf("\r\nIRQ : %d\r\n",Overflow); // myled = !myled; // Overflow = 0; // } //}