Emilija Stankovic
PMK_industrija_mikro3
Dependencies: proxy2 proxy2123 Servo
Diff: main.cpp
- Revision:
- 0:bfa464805a45
- Child:
- 1:e73b7979a1a3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jun 30 20:52:13 2021 +0000
@@ -0,0 +1,324 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2019 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "mbed.h"
+#include "platform/mbed_thread.h"
+#include "Servo.h"
+#include "color.h"
+#include <string>
+#include <MQTTClientMbedOs.h>
+#include <algorithm>
+
+#include "rohm-sensor-hal/rohm-sensor-hal/rohm_hal.h" //mbed.h, types, DEBUG_print*
+#include "rohm-sensor-hal/rohm-sensor-hal/I2CCommon.h"
+
+#include "rohm-rpr0521/rohm-rpr0521/rpr0521_driver.h"
+#include "rohm-rpr0521/rohm-rpr0521/rpr0521.h"
+
+// Blinking rate in milliseconds
+#define BLINKING_RATE_MS 500
+Serial pc(USBTX,USBRX);
+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};
+
+Servo servo2(D3);
+
+DigitalOut colorLed(D4);
+
+DigitalOut colorVout(D5);
+InterruptIn button(USER_BUTTON);
+int arrivedcount = 0;
+TCPSocket socket;
+MQTTClient client(&socket);
+MQTT::Message message;
+int button_pressed=0;
+char* topic_pub1 = "PMK_industrija/micro1/proxy1";
+
+char* topic_pub3 = "PMK_industrija/micro1/color2";
+char* topic_sub = "PMK_industrija/micro3/#";
+int salji_boju=0;
+
+WiFiInterface *wifi;
+volatile int mems_event = 0;
+uint32_t previous_tick = 0;
+uint32_t current_tick = 0;
+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;
+ int intPart, fractPart;
+ int len;
+ char *ptr;
+
+ /* prepare decimal digits multiplicator */
+ for (; decimalDigits != 0; i *= 10, decimalDigits--);
+
+ /* calculate integer & fractinal parts */
+ intPart = (int)v;
+ fractPart = (int)((v - (double)(int)v) * i);
+
+ /* fill in integer part */
+ sprintf(str, "%i.", intPart);
+
+ /* prepare fill in of fractional part */
+ len = strlen(str);
+ ptr = &str[len];
+
+ /* fill in leading fractional zeros */
+ for (i /= 10; i > 1; i /= 10, ptr++) {
+ if (fractPart >= i) {
+ break;
+ }
+ *ptr = '0';
+ }
+
+ /* fill in (rest of) fractional part */
+ sprintf(ptr, "%i", fractPart);
+
+ return str;
+}
+
+const char *sec2str(nsapi_security_t sec)
+{
+ switch (sec) {
+ case NSAPI_SECURITY_NONE:
+ return "None";
+ case NSAPI_SECURITY_WEP:
+ return "WEP";
+ case NSAPI_SECURITY_WPA:
+ return "WPA";
+ case NSAPI_SECURITY_WPA2:
+ return "WPA2";
+ case NSAPI_SECURITY_WPA_WPA2:
+ return "WPA/WPA2";
+ case NSAPI_SECURITY_UNKNOWN:
+ default:
+ return "Unknown";
+ }
+}
+
+int scan_demo(WiFiInterface *wifi)
+{
+ WiFiAccessPoint *ap;
+ printf("Scan:\n");
+ int count = wifi->scan(NULL,0);
+ if (count <= 0) {
+ printf("scan() failed with return value: %d\n", count);
+ return 0;
+ }
+ /* Limit number of network arbitrary to 15 */
+ count = count < 15 ? count : 15;
+ ap = new WiFiAccessPoint[count];
+ count = wifi->scan(ap, count);
+ if (count <= 0) {
+ printf("scan() failed with return value: %d\n", count);
+ return 0;
+ }
+ for (int i = 0; i < count; i++) {
+ printf("Network: %s secured: %s BSSID: %hhX:%hhX:%hhX:%hhx:%hhx:%hhx RSSI: %hhd Ch: %hhd\n", ap[i].get_ssid(),
+ sec2str(ap[i].get_security()), ap[i].get_bssid()[0], ap[i].get_bssid()[1], ap[i].get_bssid()[2],
+ ap[i].get_bssid()[3], ap[i].get_bssid()[4], ap[i].get_bssid()[5], ap[i].get_rssi(), ap[i].get_channel());
+ }
+ printf("%d networks available.\n", count);
+ delete[] ap;
+ return count;
+}
+
+void messageArrived(MQTT::MessageData& md)
+{
+ 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("servo2")!=std::string::npos) {
+ printf("AKTIVIRAN SERVO0\n");
+ for(float p=0; p<1.0; p += 0.1) {
+ servo2 = p;
+
+ }
+ wait(2);
+ for(float p=1.0; p>0.0; p -= 0.1) {
+ servo2 = p;
+
+ }
+ }
+ else if(topic_name.find("color3fleg")!=std::string::npos){
+ salji_boju=1;
+ }
+
+ ++arrivedcount;
+}
+
+
+
+void buttonFunction() {
+ button_pressed=1;
+}
+
+void rpr0521_print_one_value(){
+ bool error;
+ uint16_t data[3];
+
+ error = rpr0521_read_data(&data[0]);
+ if (!error) {
+ pc.printf("PS[%4u], Als0[%4u], Als1[%4u]\n\r", data[0], data[1], data[2]);
+ }
+ else {
+ pc.printf("\n\r");
+ }
+}
+
+int main()
+{ bool error;
+ uint16_t dataProx[3];
+ // 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);
+ servo2.calibrate(0.0005,90);
+ //servo1.calibrate(0.0005,180);
+ button.rise(&buttonFunction);
+ const char* hostname = "broker.mqttdashboard.com";
+ int port = 1883;
+
+ I2CCommonBegin();
+ rpr0521_wait_until_found();
+ pc.printf("\nSensor found.\n\r");
+ rpr0521_initial_setup();
+
+
+ wifi = WiFiInterface::get_default_instance();
+ if (!wifi) {
+ printf("ERROR: No WiFiInterface found.\n");
+ return -1;
+ }
+
+ int count = scan_demo(wifi);
+ if (count == 0) {
+ printf("No WIFI APs found - can't continue further.\n");
+ return -1;
+ }
+
+ printf("\nConnecting to %s...\n", MBED_CONF_APP_WIFI_SSID);
+ int ret = wifi->connect(MBED_CONF_APP_WIFI_SSID, MBED_CONF_APP_WIFI_PASSWORD, NSAPI_SECURITY_WPA_WPA2);
+ if (ret != 0) {
+ printf("\nConnection error: %d\n", ret);
+ return -1;
+ }
+
+ printf("Success\n\n");
+ printf("MAC: %s\n", wifi->get_mac_address());
+ printf("IP: %s\n", wifi->get_ip_address());
+ printf("Netmask: %s\n", wifi->get_netmask());
+ printf("Gateway: %s\n", wifi->get_gateway());
+ printf("RSSI: %d\n\n", wifi->get_rssi());
+
+ socket.open(wifi);
+ socket.connect(hostname, port);
+
+ int rc=0;
+
+ MQTTPacket_connectData data = MQTTPacket_connectData_initializer;
+ data.MQTTVersion = 3;
+ data.clientID.cstring = "PMK-client3";
+ //data.username.cstring = "testuser";
+ //data.password.cstring = "testpassword";
+
+ if ((rc = client.connect(data)) != 0)
+ printf("rc from MQTT connect is %d\r\n", rc);
+
+
+ if ((rc = client.subscribe(topic_sub, MQTT::QOS2, messageArrived)) != 0)
+ printf("rc from MQTT subscribe is %d\r\n", rc);
+
+
+
+ while (true) {
+ 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()};
+
+ while(Boja[0]<30 && Boja[1]<30 && Boja[2]<30){
+ wait(1);
+ Boja[0]=cs.getRed();
+ Boja[1]=cs.getGreen();
+ Boja[2]=cs.getBlue();
+ printf("LOSE MERENJE \r\n");
+ printf("R:%d , G:%d , B:%d",Boja[0],Boja[1],Boja[2]);
+ }
+ int strongCol=max(Boja[0],max(Boja[1],Boja[2]));
+ float BojaScal[3];
+ BojaScal[0]=Boja[0]/(strongCol*1.0);
+ BojaScal[1]=Boja[1]/(strongCol*1.0);
+ 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");}
+ 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");}
+ 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");}
+
+ printf("R: %.3f", BojaScal[0]);
+ printf("G: %.3f", BojaScal[1]);
+ printf("B: %.3f\r\n", BojaScal[2]);
+
+ printf(" Crvena R: %.3f", r1[0]);
+ printf("G: %.3f", r1[1]);
+ printf("B: %.3f\r\n", r1[2]);
+
+ //sprintf(buf, "RGB: %7s C\r\n", print_double(buffer, cs.getRed()*100000000+cs.getGreen()*10000+cs.getBlue()));
+
+ message.qos = MQTT::QOS0;
+ message.retained = false;
+ message.dup = false;
+ message.payload = (void*)buf;
+ message.payloadlen = strlen(buf)+1;
+ client.publish(topic_pub3, message);
+
+ }
+
+
+ //printf("Yielding");
+ client.yield(1000);
+ //printf(" -> Yielded\r\n");
+ //}
+
+ error = rpr0521_read_data(&dataProx[0]);
+ if (!error){
+ if(dataProx[0] > 50) {
+ printf("Pristigao je cep na lokaciju O.O O:'( \r\n ");
+ char buf[100];
+ sprintf(buf, "Cep je pristigao na proxy1 PS = %d",dataProx[0]);
+ message.qos = MQTT::QOS0;
+ message.retained = false;
+ message.dup = false;
+ message.payload = (void*)buf;
+ message.payloadlen = strlen(buf)+1;
+ client.publish(topic_pub1, message);
+
+ }
+ client.yield(1000);
+ }
+
+ }
+
+}
\ No newline at end of file