Diff: main.cpp

Revision:

4:40990500a7cc

Parent:

3:3d094a31a283

Child:

5:afe2339723f6

--- a/main.cpp	Sat Nov 18 18:27:27 2017 +0000
+++ b/main.cpp	Sat Nov 18 20:03:58 2017 +0000
@@ -4,6 +4,9 @@
 #include "HCSR04.h"
 #include "Servo.h"
 #include "PID.h"
+#include <string>
+#include <iostream>
+#include <sstream>
 
 #define SERIAL
 #define ETHERNET
@@ -29,26 +32,113 @@
 void sw2Callback()
 {
     if(motorPos<1)
-        motorPos+=0.1;
+        motorPos+=(float)0.1;
 }
 InterruptIn sw3(SW3);
 void sw3Callback()
 {
     if(motorPos>0)
-        motorPos-=0.1;
+        motorPos-=(float)0.1;
 }
 
 Thread ledSwitchThread;
 Thread serialOutThread;
 Thread controlSystemThread;
 
-float distance = 0.0;
+#ifdef ETHERNET
+Thread ethernetSendThread;
+Thread ethernetReceiveThread;
+#endif
+
+float ballDistance = 0.0;
 float setpoint = 15.0;
 
+#ifdef ETHERNET
+
+EthernetInterface eth;
+TCPSocketConnection sock;
+
+void ethernetSend()
+{
+#ifdef SERIAL
+    printf("ethernetThread started\n");
+#endif
+    std::stringstream ss;
+
+    eth.init("192.168.1.2","255.255.255.0","192.168.1.1");
+    eth.connect();
+#ifdef SERIAL
+    printf("IP Address is %s\n", eth.getIPAddress());
+#endif
+
+    sock.connect("192.168.1.1", 12345);
+
+    while(true) {
+        if(sock.is_connected()) {
+            ss.flush();
+            ss << "Ball distance: " << ballDistance << "cm\n";
+            ss << "Setpoint: " << setpoint << "cm\n";
+            switch(statusFlag) {
+                case IDLE:
+                    ss << "System is idle\n";
+                    break;
+                case ADJUSTING:
+                    ss << "System is adjusting\n";
+                    break;
+                case STABLE:
+                    ss << "System is stable\n";
+                    break;
+                default:
+                    break;
+            }
+            sock.send_all((char*)ss.str().data(),ss.str().size());
+        } else {
+            sock.connect("192.168.1.1", 12345);
+
+
+        }
+        Thread::wait(1000);
+    }
+}
+
+void ethernetReceive()
+{
+    char buffer[10];
+    int ret;
+    while(true) {
+        if(sock.is_connected()) {
+            
+
+            ret = sock.receive(buffer, sizeof(buffer)-1);
+#ifdef SERIAL
+            buffer[ret] = '\0';
+            printf("Received %d chars from server:\n%s\n", ret, buffer);
+#endif
+
+            switch(ret) {
+                default:
+                    break;
+                case 1:
+                    setpoint = (buffer[0]);
+                    break;
+                case 2:
+                    setpoint = (buffer[0]-'0')*10 + buffer[1]-'0';
+                    break;
+            }
+
+
+        } else {
+            sock.connect("192.168.1.1", 12345);
+        }
+
+    }
+}
+#endif
+
 void ledSwitch()
 {
 #ifdef SERIAL
-    printf("ledSwitch thread started");
+    printf("ledSwitch thread started\n");
 #endif
     while (true) {
         switch(statusFlag) {
@@ -80,9 +170,9 @@
 void serialOut()
 {
 #ifdef SERIAL
-    printf("SerialOut thread started");
+    printf("SerialOut thread started\n");
     while(true) {
-        printf("Ball distance: %fcm\n",distance);
+        printf("Ball distance: %fcm\n",ballDistance);
         printf("Setpoint: %fcm\n",setpoint);
         switch(statusFlag) {
             case IDLE:
@@ -105,12 +195,12 @@
 void controlSystem()
 {
 #ifdef SERIAL
-    printf("controlSystem thread started");
+    printf("controlSystem thread started\n");
 #endif
     while(true) {
-        distance = ultrassonicSensor.distance(CM);
+        ballDistance = ultrassonicSensor.distance(CM);
 
-        if (distance != setpoint) {
+        if (ballDistance != setpoint) {
             statusFlag = ADJUSTING;
         } else {
             statusFlag = STABLE;
@@ -118,9 +208,9 @@
 
         //PID CONTROLLER
         //motor.write(motorPos);
-        controller.setProcessValue(distance);
+        controller.setProcessValue(ballDistance);
         motor.write(controller.compute());
-        
+
 
         Thread::wait(SAMPLE_RATE);
     }
@@ -152,6 +242,11 @@
     serialOutThread.start(serialOut);
     controlSystemThread.start(controlSystem);
 
+#ifdef ETHERNET
+    ethernetSendThread.start(ethernetSend);
+    ethernetReceiveThread.start(ethernetReceive);
+#endif
+
     while(true) {
         //nothing
     }