main.cpp

00001 /*
00002  * main.cpp
00003  * Laos Controller, main function
00004  *
00005  * Copyright (c) 2011 Peter Brier & Jaap Vermaas
00006  *
00007  *   This file is part of the LaOS project (see: http://wiki.laoslaser.org)
00008  *
00009  *   LaOS is free software: you can redistribute it and/or modify
00010  *   it under the terms of the GNU General Public License as published by
00011  *   the Free Software Foundation, either version 3 of the License, or
00012  *   (at your option) any later version.
00013  *
00014  *   LaOS is distributed in the hope that it will be useful,
00015  *   but WITHOUT ANY WARRANTY; without even the implied warranty of
00016  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017  *   GNU General Public License for more details.
00018  *
00019  *   You should have received a copy of the GNU General Public License
00020  *   along with LaOS.  If not, see <http://www.gnu.org/licenses/>.
00021  *
00022  * This program consists of a few parts:
00023  *
00024  * ConfigFile   Read configuration files
00025  * EthConfig    Initialize an ethernet stack, based on a configuration file (includes link status monitoring)
00026  * LaosDisplay  User interface functions (read keys, display text and menus on LCD)
00027  * LaosMenu     User interface stuctures (menu navigation)
00028  * LaosServer   TCP/IP server, accept connections read/write data
00029  * LaosMotion   Motion control functions (X,Y,Z motion, homing)
00030  * LaosIO       Input/Output functions
00031  * LaosFile     File based jobs (read/write/delete)
00032  *
00033  * Program functions:
00034  * 1) Read config file
00035  * 2) Enable TCP/IP stack (Fixed ip or DHCP)
00036  * 3) Instantiate tcp/ip port and accept connections
00037  * 4) Show menus, peform user actions
00038  * 5) Controll laser
00039  * 6) Controll motion
00040  * 7) Set and read IO, check status (e.g. interlocks)
00041  *
00042  */
00043 #include "global.h"
00044 #include "ConfigFile.h"
00045 #include "EthConfig.h"
00046 #include "TFTPServer.h"
00047 #include "LaosMenu.h"
00048 #include "LaosMotion.h"
00049 #include "SDFileSystem.h"
00050 #include "laosfilesystem.h"
00051 
00052 // MBED blue status leds
00053 DigitalOut led1(LED1);
00054 DigitalOut led2(LED2);
00055 DigitalOut led3(LED3);
00056 DigitalOut led4(LED4);
00057 
00058 // Status and communication
00059 DigitalOut eth_link(p29); // green
00060 DigitalOut eth_speed(p30); // yellow
00061 EthernetNetIf *eth; // Ethernet, tcp/ip
00062 
00063 // Filesystems
00064 LocalFileSystem local("local");   //File System
00065 LaosFileSystem sd(p11, p12, p13, p14, "sd");
00066 
00067 // Laos objects
00068 LaosDisplay *dsp;
00069 LaosMenu *mnu;
00070 TFTPServer *srv;
00071 LaosMotion *mot;
00072 Timer systime;
00073 
00074 // Config
00075 GlobalConfig *cfg;
00076 
00077 // Protos
00078 void GetFile(void);
00079 void main_nodisplay();
00080 void main_menu();
00081 
00082 // for debugging:
00083 extern void plan_get_current_position_xyz(float *x, float *y, float *z);
00084 extern PwmOut pwm;
00085 extern "C" void mbed_reset();
00086 
00087 /**
00088 *** Main function
00089 **/
00090 int main() 
00091 {
00092   systime.start();
00093   //float x, y, z;
00094   eth_speed = 1;
00095   
00096   dsp = new LaosDisplay();
00097   printf( VERSION_STRING "...\nBOOT...\n" ); 
00098   mnu = new LaosMenu(dsp);
00099   eth_speed=0;
00100 
00101  printf("TEST SD...\n"); 
00102   FILE *fp = sd.openfile("test.txt", "wb");
00103   if ( fp == NULL )
00104   {
00105     mnu->SetScreen("SD NOT READY!"); 
00106     wait(2.0);
00107     mbed_reset();
00108   }
00109   else
00110   {
00111     printf("SD: READY...\n");
00112     fclose(fp);
00113     removefile("test.txt");
00114   }
00115   
00116   // See if there's a .bin file on the SD
00117   // if so, put it on the MBED and reboot
00118   if (SDcheckFirmware()) mbed_reset();
00119   
00120   mnu->SetScreen(VERSION_STRING);
00121   printf("START...\n");
00122   cfg =  new GlobalConfig("config.txt");
00123   mnu->SetScreen("CONFIG OK...."); 
00124   printf("CONFIG OK...\n");
00125   if (!cfg->nodisplay)
00126     dsp->testI2C();
00127   
00128   printf("MOTION...\n"); 
00129   mot = new LaosMotion();
00130     
00131   eth = EthConfig();
00132   eth_speed=1;
00133       
00134   printf("SERVER...\n");
00135   srv = new TFTPServer("/sd", cfg->port);
00136   mnu->SetScreen("SERVER OK...."); 
00137   wait(0.5);
00138   mnu->SetScreen(9); // IP
00139   wait(1.0);
00140   
00141   printf("RUN...\n");
00142   
00143   // Wait for key, and then home
00144   
00145   if ( cfg->autohome )
00146   {
00147     printf("HOME...\n");
00148     wait(1);
00149   
00150     mnu->SetScreen("HOME....");
00151   
00152   // Start homing
00153     while ( !mot->isStart() );
00154     mot->home(cfg->xhome,cfg->yhome, cfg->zhome);
00155     // if ( !mot->isHome ) exit(1);
00156     printf("HOME DONE. (%d,%d, %d)\n",cfg->xhome,cfg->yhome,cfg->zhome);
00157   }
00158   else
00159     printf("Homing skipped: %d\n", cfg->autohome);
00160 
00161   // clean sd card?
00162   if (cfg->cleandir) cleandir();
00163   mnu->SetScreen(NULL);  
00164 
00165   if (cfg->nodisplay) {
00166     printf("No display set\n\r");
00167     main_nodisplay();
00168   } else {
00169     printf("Entering display\n\r");
00170     main_menu();
00171   }
00172 }
00173 
00174 void main_nodisplay() {
00175   float x, y, z = 0;
00176   
00177   // main loop  
00178    while(1) 
00179   {  
00180     led1=led2=led3=led4=0;
00181     mnu->SetScreen("Wait for file ...");
00182     while (srv->State() == listen)
00183         Net::poll();
00184     GetFile();
00185     
00186     plan_get_current_position_xyz(&x, &y, &z);
00187      printf("%f %f\n", x,y); 
00188     mnu->SetScreen("Laser BUSY..."); 
00189     
00190     char name[32];
00191     srv->getFilename(name);
00192     printf("Now processing file: '%s'\n\r", name);
00193     FILE *in = sd.openfile(name, "r");
00194     while (!feof(in))
00195     { 
00196       while (!mot->ready() );
00197       mot->write(readint(in));
00198     }
00199     fclose(in);
00200     removefile(name);
00201     // done
00202     printf("DONE!...\n");
00203     mot->moveTo(cfg->xrest, cfg->yrest, cfg->zrest);
00204   }
00205 }
00206 
00207 
00208 void main_menu() {
00209   // main loop  
00210   while (1) {
00211         led1=led2=led3=led4=0;
00212                 
00213         mnu->SetScreen(1);
00214         while (1) {;
00215             mnu->Handle();
00216             Net::poll();
00217             if (srv->State() != listen) {
00218                 GetFile();
00219                 char myname[32];
00220                 srv->getFilename(myname);
00221                 if (isFirmware(myname)) {
00222                     installFirmware(myname);
00223                     mnu->SetScreen(1);
00224                 } else {
00225                     if (strcmp("config.txt", myname) == 0) {
00226                         // it's a config file!
00227                         mnu->SetScreen(1);
00228                     } else {
00229                         if (isLaosFile(myname)) {
00230                             mnu->SetFileName(myname);
00231                             mnu->SetScreen(2);
00232                         }
00233                     }
00234                 }
00235             }           
00236         }
00237     }
00238 }
00239 
00240 /**
00241 *** Get file from network and save on SDcard
00242 *** Ascii data is read from the network, and saved on the SD card in binary int32 format
00243 **/
00244 void GetFile(void) {
00245    Timer t;
00246    printf("Main::GetFile()\n\r" );
00247    mnu->SetScreen("Receive file...");
00248    t.start();
00249    while (srv->State() != listen) {
00250      Net::poll();
00251      switch ((int)t.read()) {
00252         case 1:
00253             mnu->SetScreen("Receive file");
00254             break;
00255         case 2:
00256             mnu->SetScreen("Receive file.");
00257             break;
00258         case 3:
00259             mnu->SetScreen("Receive file..");
00260             break;
00261         case 4:
00262             mnu->SetScreen("Receive file...");
00263             t.reset();
00264             break;
00265      }
00266    }
00267    mnu->SetScreen("Received file.");
00268 } // GetFile
00269