Emilija Stankovic
PMKIND
Diff: main.cpp
- Revision:
- 2:5918b8bad3a7
- Parent:
- 1:d3bb978c1ff7
--- a/main.cpp Wed Jun 30 20:50:16 2021 +0000
+++ b/main.cpp Mon Jul 05 12:56:18 2021 +0000
@@ -14,24 +14,37 @@
// Blinking rate in milliseconds
#define BLINKING_RATE_MS 500
+// varijable za boju
+
float r1[3]={1 ,109.0/399.0,133.0/399.0};
float g1[3]={206.0/411.0,399.0/411.0,1};
float b1[3]={120.0/490.0 ,209.0/490.0, 1};
-
+DigitalOut colorLed(D4);
+DigitalOut colorVout(D5);
+int salji_boju=0;
+int fleg_start=0;
+Serial pc(USBTX,USBRX);
+// varijable za servo
Servo servo0(D3);
Servo servo1(D6);
-DigitalOut colorLed(D4);
DigitalOut Servo1Napajanje(D7);
-DigitalOut colorVout(D5);
+
InterruptIn button(USER_BUTTON);
int arrivedcount = 0;
TCPSocket socket;
MQTTClient client(&socket);
MQTT::Message message;
int button_pressed=0;
-char* topic_pub = "PMK_industrija/micro1/color";
+
+//Timeout T1;
+//void interruptT1(){
+ // printf("error1");
+ // }
+
+char* topic_pub = "PMK_industrija/micro1/color1";
+char* topic_pub1 = "PMK_industrija/micro1/echo/2";
char* topic_sub = "PMK_industrija/micro2/#";
-int salji_boju=0;
+
WiFiInterface *wifi;
volatile int mems_event = 0;
@@ -40,6 +53,7 @@
uint8_t high = 0, low = 0;
float temperature = 0.0f;
char buffer[32];
+
static char *print_double(char *str, double v, int decimalDigits = 2)
{
int i = 1;
@@ -122,67 +136,101 @@
}
void messageArrived(MQTT::MessageData& md)
-{
+{ char buf[100];
MQTTString &topic = md.topicName;
string topic_name = topic.lenstring.data;
printf("Topic name %d : %s\r\n",topic.lenstring.len,topic_name.c_str() );
MQTT::Message &message = md.message;
printf("Message arrived: qos %d, retained %d, dup %d, packetid %d\r\n", message.qos, message.retained, message.dup, message.id);
printf("Payload %.*s\r\n", message.payloadlen, (char*)message.payload);
- char* poruka = (char*)message.payload;
- if(topic_name.find("servo0")!=std::string::npos) {
- printf("AKTIVIRAN SERVO0\n");
- for(float p=0; p<1.0; p += 0.1) {
- servo0 = p;
+ string poruka = (char*)message.payload;
+
+ //if(topic_name.find("servo0")!=std::string::npos) {
+ // printf("AKTIVIRAN SERVO0\n");
+ // for(float p=0; p<1.0; p += 0.1) {
+ // servo0 = p;
- }
- wait(2);
- for(float p=1.0; p>0.0; p -= 0.1) {
- servo0 = p;
+ // }
+ // wait(2);
+ // for(float p=1.0; p>0.0; p -= 0.1) {
+ // servo0 = p;
+
+ //}
- }
- }
- else if(topic_name.find("proxy1")!=std::string::npos){
- salji_boju=1;
- }
- else if(topic_name.find("servo1")!=std::string::npos){
- printf("AKTIVIRAN SERVO1\n");
- for(float p=0; p<1.0; p += 0.1) {
- servo1 = p;
+ //sprintf(buf, "servo0-AKTIVIRAN \r\n");
+ // message.qos = MQTT::QOS0;
+ //message.retained = false;
+ //message.dup = false;
+ //message.payload = (void*)buf;
+ //message.payloadlen = strlen(buf)+1;
+ //client.publish(topic_pub1, message);
+ //}
+ //else if(topic_name.find("color1")!=std::string::npos){
+ //salji_boju=1;
+ //}
+ //else if(topic_name.find("servo1")!=std::string::npos){
+ // T1.detach();
+ // printf("AKTIVIRAN SERVO1\n");
+ // for(float p=0; p<1.0; p += 0.1) {
+ //servo1 = p;
+ // da li na 45
+ //}
+ //wait(2);
+ //for(float p=1.0; p>0.0; p -= 0.1) {
+ //servo1 = p;
+
+ //}
- }
- wait(2);
- for(float p=1.0; p>0.0; p -= 0.1) {
- servo1 = p;
-
- }
+ // sprintf(buf, "servo1-AKTIVIRAN \r\n");
+ //message.qos = MQTT::QOS0;
+ //message.retained = false;
+ //message.dup = false;
+ //message.payload = (void*)buf;
+ //message.payloadlen = strlen(buf)+1;
+ //client.publish(topic_pub1, message);
+
-
-
- }
+ //}
+ //else
+ if(topic_name.find("echo")!=std::string::npos){
+ if(poruka.find("connect")!=std::string::npos){
+ fleg_start=1;
+ sprintf(buf, "echo2 \r\n");
+ message.qos = MQTT::QOS0;
+ message.retained = false;
+ message.dup = false;
+ message.payload = (void*)buf;
+ message.payloadlen = strlen(buf)+1;
+ client.publish(topic_pub1, message);
+ }
+ else if(poruka.find("echo")!=std::string::npos){
+ // T1.detach();
+ }
+ }
++arrivedcount;
+
}
-
void buttonFunction() {
button_pressed=1;
}
int main()
-{
+{
// Initialise the digital pin LED1 as an output
colorLed=1;
colorVout=1;
- Servo1Napajanje=1;
+
ColorSensor cs(PA_5,PA_6,PA_7,PB_6,PC_7);
DigitalOut led(LED1);
+ Servo1Napajanje=1;
servo0.calibrate(0.0005,90);
servo1.calibrate(0.0005,180);
button.rise(&buttonFunction);
+
const char* hostname = "broker.mqttdashboard.com";
int port = 1883;
-
wifi = WiFiInterface::get_default_instance();
if (!wifi) {
printf("ERROR: No WiFiInterface found.\n");
@@ -228,16 +276,18 @@
printf("rc from MQTT subscribe is %d\r\n", rc);
-
+ char buf[100];
+ float treshold=0.1;
while (true) {
+ client.yield(1000);
+ if (fleg_start==1){
led = !led;
thread_sleep_for(BLINKING_RATE_MS);
if (salji_boju==1) {
salji_boju=0;
printf("Publishing data\r\n");
// QoS 0
- char buf[100];
- float treshold=0.1;
+
int Boja[3]={cs.getRed(), cs.getGreen(),cs.getBlue()};
@@ -256,12 +306,12 @@
BojaScal[2]=Boja[2]/(strongCol*1.0);
if(BojaScal[1]<r1[1]+treshold && BojaScal[1]>r1[1]-treshold && BojaScal[2]<r1[2]+treshold && BojaScal[0]>r1[0]-treshold && BojaScal[0]<r1[0]+treshold && BojaScal[2]>r1[2]-treshold ) {
- sprintf(buf, "RGB: CRVENA \r\n");}
+ sprintf(buf, "Jeste \r\n");}
else if(BojaScal[1]<g1[1]+treshold && BojaScal[1]>g1[1]-treshold && BojaScal[2]<g1[2]+treshold && BojaScal[0]>g1[0]-treshold && BojaScal[0]<g1[0]+treshold && BojaScal[2]>g1[2]-treshold ) {
- sprintf(buf, "RGB: ZELENA \r\n");}
+ sprintf(buf, "Nije \r\n");}
else if(BojaScal[1]<b1[1]+treshold && BojaScal[1]>b1[1]-treshold && BojaScal[2]<b1[2]+treshold && BojaScal[0]>b1[0]-treshold && BojaScal[0]<b1[0]+treshold && BojaScal[2]>b1[2]-treshold ) {
- sprintf(buf, "RGB: PLAVA \r\n");}
- else { sprintf(buf, "RGB: NEKA DRUGA BOJA \r\n");}
+ sprintf(buf, "Nije \r\n");}
+ else { sprintf(buf, "Nije \r\n");}
printf("R: %.3f", BojaScal[0]);
printf("G: %.3f", BojaScal[1]);
@@ -279,10 +329,12 @@
message.payload = (void*)buf;
message.payloadlen = strlen(buf)+1;
client.publish(topic_pub, message);
-
+ // T1.attach(&interruptT1,5);
}
//printf("Yielding");
client.yield(1000);
//printf(" -> Yielded\r\n");
}
+ }
+
}