Emilija Stankovic
PMK_industrija_mikro3
Dependencies: proxy2 proxy2123 Servo
Diff: main.cpp
- Revision:
- 1:e73b7979a1a3
- Parent:
- 0:bfa464805a45
--- a/main.cpp Wed Jun 30 20:52:13 2021 +0000
+++ b/main.cpp Mon Jul 05 12:57:13 2021 +0000
@@ -20,15 +20,23 @@
// Blinking rate in milliseconds
#define BLINKING_RATE_MS 500
Serial pc(USBTX,USBRX);
+
+Timeout T2;
+void interruptT2(){
+ printf("error2");
+ }
+
+//varijable boje
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;
+//varijable za servo
Servo servo2(D3);
-
-DigitalOut colorLed(D4);
-
-DigitalOut colorVout(D5);
+int fleg_proxy1=0;
InterruptIn button(USER_BUTTON);
int arrivedcount = 0;
TCPSocket socket;
@@ -36,10 +44,11 @@
MQTT::Message message;
int button_pressed=0;
char* topic_pub1 = "PMK_industrija/micro1/proxy1";
-
+char* topic_pub4 = "PMK_industrija/micro1/proxy2";
char* topic_pub3 = "PMK_industrija/micro1/color2";
+char* topic_pub2 = "PMK_industrija/micro1/echo/3";
char* topic_sub = "PMK_industrija/micro3/#";
-int salji_boju=0;
+int fleg_proxy2=0;
WiFiInterface *wifi;
volatile int mems_event = 0;
@@ -130,16 +139,17 @@
}
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;
+ string poruka = (char*)message.payload;
if(topic_name.find("servo2")!=std::string::npos) {
- printf("AKTIVIRAN SERVO0\n");
+ printf("AKTIVIRAN SERVO2\n");
+ T2.detach();
for(float p=0; p<1.0; p += 0.1) {
servo2 = p;
@@ -149,11 +159,32 @@
servo2 = p;
}
+ sprintf(buf, "servo2-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_pub2, message);
}
- else if(topic_name.find("color3fleg")!=std::string::npos){
+ else if(topic_name.find("color2")!=std::string::npos){
salji_boju=1;
}
-
+ else if(topic_name.find("echo")!=std::string::npos){
+ if(poruka.find("connect")!=std::string::npos){
+ fleg_start=1;
+ sprintf(buf, "echo3 \r\n");
+ message.qos = MQTT::QOS0;
+ message.retained = false;
+ message.dup = false;
+ message.payload = (void*)buf;
+ message.payloadlen = strlen(buf)+1;
+ client.publish(topic_pub2, message);
+ }
+ else if(poruka.find("echo")!=std::string::npos){
+ T2.detach();
+ }
+ }
++arrivedcount;
}
@@ -167,7 +198,7 @@
bool error;
uint16_t data[3];
- error = rpr0521_read_data(&data[0]);
+ error = rpr0521_read_data(&data[0],0);
if (!error) {
pc.printf("PS[%4u], Als0[%4u], Als1[%4u]\n\r", data[0], data[1], data[2]);
}
@@ -191,10 +222,19 @@
const char* hostname = "broker.mqttdashboard.com";
int port = 1883;
+ pc.printf("\nRPR0521 library test program.\n\r");
I2CCommonBegin();
- rpr0521_wait_until_found();
+
+ rpr0521_wait_until_found(0);
pc.printf("\nSensor found.\n\r");
- rpr0521_initial_setup();
+ rpr0521_initial_setup(0);
+ wait(1);
+
+ rpr0521_wait_until_found(1);
+ pc.printf("\nSensor found.\n\r");
+ rpr0521_initial_setup(1);
+ wait(1);
+
wifi = WiFiInterface::get_default_instance();
@@ -244,9 +284,11 @@
while (true) {
+ if(fleg_start==1){
led = !led;
thread_sleep_for(BLINKING_RATE_MS);
if (salji_boju==1) {
+ T2.detach();
salji_boju=0;
printf("Publishing data\r\n");
// QoS 0
@@ -270,12 +312,12 @@
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, "Nije \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, "Jeste \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]);
@@ -293,7 +335,7 @@
message.payload = (void*)buf;
message.payloadlen = strlen(buf)+1;
client.publish(topic_pub3, message);
-
+ T2.attach(&interruptT2,5);
}
@@ -302,23 +344,46 @@
//printf(" -> Yielded\r\n");
//}
- error = rpr0521_read_data(&dataProx[0]);
+ error = rpr0521_read_data(&dataProx[0],0);
if (!error){
- if(dataProx[0] > 50) {
+ if(dataProx[0] > 50 && !fleg_proxy1) {
+ fleg_proxy1=1;
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]);
+ sprintf(buf, "proxy1-AKTIV 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.publish(topic_pub1, message);
+ T2.attach(&interruptT2,5);
}
+ else if(dataProx[0]<50){fleg_proxy1=0;}
client.yield(1000);
}
+ error = rpr0521_read_data(&dataProx[0],1);
+ if (!error){
+ if(dataProx[0] > 50 && !fleg_proxy2) {
+ fleg_proxy2=1;
+ printf("Pristigao je cep na lokaciju O.O O:'( \r\n ");
+ char buf[100];
+ sprintf(buf, "proxy1-AKTIV 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_pub4, message);
+ T2.attach(&interruptT2,5);
+
+ }
+ else if(dataProx[0]<50){fleg_proxy2=0;}
+ client.yield(1000);
+ }
+
}
-
+ }
}
\ No newline at end of file