main.cpp

00001 /* mbed Microcontroller Library
00002  * Copyright (c) 2019 ARM Limited
00003  * SPDX-License-Identifier: Apache-2.0
00004  */
00005 #include "Servo.h"
00006 #include "color.h"
00007 #include "mbed.h"
00008 #include "platform/mbed_thread.h"
00009 #include <string>
00010 #include <MQTTClientMbedOs.h>
00011 #include "TextLCD.h"
00012 #include "rohm-sensor-hal/rohm-sensor-hal/rohm_hal.h"       //mbed.h, types, DEBUG_print*
00013 #include "rohm-sensor-hal/rohm-sensor-hal/I2CCommon.h"
00014 
00015 #include "rohm-rpr0521/rohm-rpr0521/rpr0521_driver.h"
00016 #include "rohm-rpr0521/rohm-rpr0521/rpr0521.h"
00017 
00018 // Blinking rate in milliseconds    
00019 #define BLINKING_RATE_MS    
00020                                                 500
00021 int salji_boju=0;
00022 Serial pc(USBTX,USBRX);
00023 InterruptIn button(USER_BUTTON);
00024 int arrivedcount = 0;
00025 TCPSocket socket;
00026 MQTTClient client(&socket);
00027 MQTT::Message message;
00028 int button_pressed=0;
00029 
00030 Timeout T3;
00031 
00032 char* topic_sub = "PMK_industrija/micro4/#";
00033 char* topic_pub = "PMK_industrija/micro1/proxy3";
00034 char* topic_pub2 = "PMK_industrija/micro1/color3";
00035 char* topic_pub1 = "PMK_industrija/micro1/echo/4";
00036 Servo servo3(D7);
00037 
00038 
00039 WiFiInterface *wifi;
00040 
00041 TextLCD lcd(D3,D4,D13,D12,D11,D10);
00042 DigitalOut vdd(A5);
00043 
00044 volatile int mems_event = 0;
00045 uint32_t previous_tick = 0;
00046 uint32_t current_tick = 0;
00047 uint8_t high = 0, low = 0;
00048 float temperature = 0.0f;
00049 char buffer[32];
00050 
00051 static char *print_double(char *str, double v, int decimalDigits = 2)
00052 {
00053     int i = 1;
00054     int intPart, fractPart;
00055     int len;
00056     char *ptr;
00057  
00058     /* prepare decimal digits multiplicator */
00059     for (; decimalDigits != 0; i *= 10, decimalDigits--);
00060  
00061     /* calculate integer & fractinal parts */
00062     intPart = (int)v;
00063     fractPart = (int)((v - (double)(int)v) * i);
00064  
00065     /* fill in integer part */
00066     sprintf(str, "%i.", intPart);
00067  
00068     /* prepare fill in of fractional part */
00069     len = strlen(str);
00070     ptr = &str[len];
00071  
00072     /* fill in leading fractional zeros */
00073     for (i /= 10; i > 1; i /= 10, ptr++) {
00074         if (fractPart >= i) {
00075             break;
00076         }
00077         *ptr = '0';
00078     }
00079  
00080     /* fill in (rest of) fractional part */
00081     sprintf(ptr, "%i", fractPart);
00082  
00083     return str;
00084 }
00085 
00086 const char *sec2str(nsapi_security_t sec)
00087 {
00088     switch (sec) {
00089         case NSAPI_SECURITY_NONE:
00090             return "None";
00091         case NSAPI_SECURITY_WEP:
00092             return "WEP";
00093         case NSAPI_SECURITY_WPA:
00094             return "WPA";
00095         case NSAPI_SECURITY_WPA2:
00096             return "WPA2";
00097         case NSAPI_SECURITY_WPA_WPA2:
00098             return "WPA/WPA2";
00099         case NSAPI_SECURITY_UNKNOWN:
00100         default:
00101             return "Unknown";
00102     }
00103 }
00104 
00105 int scan_demo(WiFiInterface *wifi)
00106 {
00107     WiFiAccessPoint *ap;
00108     printf("Scan:\n");
00109     int count = wifi->scan(NULL,0);
00110     if (count <= 0) {
00111         printf("scan() failed with return value: %d\n", count);
00112         return 0;
00113     }
00114     /* Limit number of network arbitrary to 15 */
00115     count = count < 15 ? count : 15;
00116     ap = new WiFiAccessPoint[count];
00117     count = wifi->scan(ap, count);
00118     if (count <= 0) {
00119         printf("scan() failed with return value: %d\n", count);
00120         return 0;
00121     }
00122     for (int i = 0; i < count; i++) {
00123         printf("Network: %s secured: %s BSSID: %hhX:%hhX:%hhX:%hhx:%hhx:%hhx RSSI: %hhd Ch: %hhd\n", ap[i].get_ssid(),
00124                sec2str(ap[i].get_security()), ap[i].get_bssid()[0], ap[i].get_bssid()[1], ap[i].get_bssid()[2],
00125                ap[i].get_bssid()[3], ap[i].get_bssid()[4], ap[i].get_bssid()[5], ap[i].get_rssi(), ap[i].get_channel());
00126     }
00127     printf("%d networks available.\n", count);
00128     delete[] ap;
00129     return count;
00130 }
00131 
00132 void messageArrived(MQTT::MessageData& md)
00133 {
00134     MQTTString &topic = md.topicName;
00135     string topic_name = topic.lenstring.data;
00136     printf("Topic name %d : %s\r\n",topic.lenstring.len,topic_name.c_str() );
00137     MQTT::Message &message = md.message;
00138     printf("Message arrived: qos %d, retained %d, dup %d, packetid %d\r\n", message.qos, message.retained, message.dup, message.id);
00139     printf("Payload %.*s\r\n", message.payloadlen, (char*)message.payload);
00140     char* poruka = (char*)message.payload;
00141     if(topic_name.find("servo3")!=std::string::npos) {
00142          T3.detach();
00143          printf("AKTIVIRAN SERVO3\n"); 
00144          for(float p=0; p<1.0; p += 0.1) {
00145         servo3 = p;
00146         
00147         }
00148         wait(2);
00149         for(float p=1.0; p>0.0; p -= 0.1) {
00150         servo3 = p;
00151         
00152         }
00153         sprintf(buf, "servo3-AKTIVIRAN \r\n");
00154             message.qos = MQTT::QOS0;
00155             message.retained = false;
00156             message.dup = false;
00157             message.payload = (void*)buf;
00158             message.payloadlen = strlen(buf)+1;
00159             client.publish(topic_pub1, message); 
00160     }
00161     else if(topic_name.find("color3")!=std::string::npos){
00162     salji_boju=1;
00163     }
00164     
00165     
00166     else if(topic_name.find("LCD")!=std::string::npos){
00167         
00168         lcd.cls();
00169         lcd.printf("%s ",poruka);
00170         
00171         
00172         }
00173         else if(topic_name.find("echo")!=std::string::npos){
00174             if(poruka.find("connect")!=std::string::npos){
00175             fleg_start=1;
00176             sprintf(buf, "echo4 \r\n");
00177             message.qos = MQTT::QOS0;
00178             message.retained = false;
00179             message.dup = false;
00180             message.payload = (void*)buf;
00181             message.payloadlen = strlen(buf)+1;
00182             client.publish(topic_pub1, message); 
00183             }
00184             else if(poruka.find("echo")!=std::string::npos){
00185                 T3.detach();
00186             }
00187             }
00188     
00189     ++arrivedcount;
00190 }
00191 
00192 
00193 void buttonFunction() {    
00194     button_pressed=1;   
00195 }
00196 
00197 void rpr0521_print_one_value(){
00198     bool error;
00199     uint16_t data[3];
00200     
00201     error = rpr0521_read_data(&data[0]);
00202     if (!error) {
00203         printf("PS[%4u], Als0[%4u], Als1[%4u]\n\r", data[0], data[1], data[2]);
00204         }
00205     else {
00206         printf("\n\r");
00207         }
00208 }
00209 int main()
00210 {   vdd=1;
00211     // Initialise the digital pin LED1 as an output
00212     bool error;
00213     //ColorSensor cs(PA_5,PA_6,PA_7,PB_6,PC_7);
00214     uint16_t dataProx[3];
00215     DigitalOut led(LED1); 
00216     button.rise(&buttonFunction);
00217     const char* hostname = "broker.mqttdashboard.com";
00218     int port = 1883;    
00219     
00220     I2CCommonBegin();
00221     rpr0521_wait_until_found();
00222     pc.printf("\nSensor found.\n\r");
00223     rpr0521_initial_setup();
00224     
00225     wifi = WiFiInterface::get_default_instance();
00226     if (!wifi) {
00227         printf("ERROR: No WiFiInterface found.\n");
00228         return -1;
00229     }
00230 
00231     int count = scan_demo(wifi);
00232     if (count == 0) {
00233         printf("No WIFI APs found - can't continue further.\n");
00234         return -1;
00235     }
00236 
00237     printf("\nConnecting to %s...\n", MBED_CONF_APP_WIFI_SSID);
00238     int ret = wifi->connect(MBED_CONF_APP_WIFI_SSID, MBED_CONF_APP_WIFI_PASSWORD, NSAPI_SECURITY_WPA_WPA2);
00239     if (ret != 0) {
00240         printf("\nConnection error: %d\n", ret);
00241         return -1;
00242     }
00243 
00244     printf("Success\n\n");
00245     printf("MAC: %s\n", wifi->get_mac_address());
00246     printf("IP: %s\n", wifi->get_ip_address());
00247     printf("Netmask: %s\n", wifi->get_netmask());
00248     printf("Gateway: %s\n", wifi->get_gateway());
00249     printf("RSSI: %d\n\n", wifi->get_rssi());
00250 
00251     socket.open(wifi);
00252     socket.connect(hostname, port);
00253     
00254     int rc=0;
00255     
00256     MQTTPacket_connectData data = MQTTPacket_connectData_initializer;
00257     data.MQTTVersion = 3;
00258     data.clientID.cstring = "PMK-client4";
00259     //data.username.cstring = "testuser";
00260     //data.password.cstring = "testpassword";
00261     
00262     if ((rc = client.connect(data)) != 0)
00263         printf("rc from MQTT connect is %d\r\n", rc);
00264 
00265     
00266     if ((rc = client.subscribe(topic_sub, MQTT::QOS2, messageArrived)) != 0)
00267         printf("rc from MQTT subscribe is %d\r\n", rc);    
00268     
00269     
00270     
00271     while (true) {
00272         led = !led;
00273         thread_sleep_for(BLINKING_RATE_MS);
00274      
00275     
00276         error = rpr0521_read_data(&dataProx[0]);
00277         if (!error){
00278             T3.attach(&interuptT3,5);
00279             if(dataProx[0] > 50 && !fleg_proxy) {
00280                 fleg_proxy1=1; 
00281                 printf("Pristigao je cep na lokaciju O.O O:'( \r\n ");
00282                 char buf[100];
00283                 sprintf(buf, "proxy3-AKTIV PS = %d",dataProx[0]);
00284                 message.qos = MQTT::QOS0;
00285                 message.retained = false;
00286                 message.dup = false;
00287                 message.payload = (void*)buf;
00288                 message.payloadlen = strlen(buf)+1;
00289                 client.publish(topic_pub, message);    
00290                 //salji_boju=1;
00291                 }
00292                 else{fleg_proxy=0;}
00293         
00294         }
00295         if (salji_boju==1) {
00296             T3.detach();
00297             //salji_boju=0;    
00298             //printf("Publishing data\r\n");    
00299             // QoS 0
00300             //char buf[100];
00301             //float treshold=0.1;
00302             
00303             //int Boja[3]={cs.getRed(), cs.getGreen(),cs.getBlue()};
00304             
00305             //while(Boja[0]<30 && Boja[1]<30 && Boja[2]<30){
00306                 //wait(1);
00307                 //Boja[0]=cs.getRed();
00308                 //Boja[1]=cs.getGreen();
00309                 //Boja[2]=cs.getBlue();
00310                 //printf("LOSE MERENJE \r\n");
00311                 //printf("R:%d , G:%d , B:%d",Boja[0],Boja[1],Boja[2]);
00312               //  }
00313             //int strongCol=max(Boja[0],max(Boja[1],Boja[2]));
00314             //float BojaScal[3];
00315             //BojaScal[0]=Boja[0]/(strongCol*1.0);
00316             //BojaScal[1]=Boja[1]/(strongCol*1.0);
00317             //BojaScal[2]=Boja[2]/(strongCol*1.0);        
00318             
00319             //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 ) {
00320               //  sprintf(buf, "RGB: CRVENA \r\n");}
00321             //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 ) {
00322                 //sprintf(buf, "RGB: ZELENA \r\n");}
00323                 //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 ) {
00324                 //sprintf(buf, "RGB: PLAVA \r\n");}
00325               //  else { sprintf(buf, "RGB: NEKA DRUGA BOJA \r\n");}
00326             
00327             //printf("R: %.3f", BojaScal[0]);
00328             //printf("G: %.3f", BojaScal[1]);
00329            // printf("B: %.3f\r\n", BojaScal[2]);
00330             
00331             //printf(" Crvena R: %.3f", r1[0]);
00332             //printf("G: %.3f", r1[1]);
00333             //printf("B: %.3f\r\n", r1[2]);
00334             
00335         
00336             //message.qos = MQTT::QOS0;
00337             //message.retained = false;
00338             //message.dup = false;
00339             //message.payload = (void*)buf;
00340             //message.payloadlen = strlen(buf)+1;
00341             //client.publish(topic_pub, message);
00342             T3.attach(&interruptT3,5);
00343         salji_boju=0;    
00344         }
00345         
00346         
00347         if (button_pressed==1) {
00348             button_pressed=0;    
00349             printf("Publishing data\r\n");    
00350             // QoS 0
00351             char buf[100];
00352           
00353             //sprintf(buf, "RGB: %7s C\r\n", print_double(buffer, cs.getRed()*100000000+cs.getGreen()*10000+cs.getBlue()));
00354             
00355            //message.qos = MQTT::QOS0;
00356             //message.retained = false;
00357             //message.dup = false;
00358             //message.payload = (void*)buf;
00359             //message.payloadlen = strlen(buf)+1;
00360             //client.publish(topic_pub, message);
00361             
00362         }
00363        // printf("Yielding"); 
00364         client.yield(1000);
00365         //printf(" -> Yielded\r\n"); 
00366     }
00367 }