Masaya Kataoka / Mbed 2 deprecated miniv_firmware

firmware for the miniv

Dependencies:   mbed EthernetNetIf JSON

main.cpp@2:2eb3f4362288, 2021-05-06 (annotated)

Committer:
hakuturu583
Date:
Thu May 06 13:41:44 2021 +0000
Revision:
2:2eb3f4362288
Parent:
1:da09e6a94937
Child:
3:a0cd142687d0
enable run pwm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xshige 0:c3fbb0514bfc 1 // TCP Echo server
xshige 1:da09e6a94937 2 // 2010/9/7
xshige 0:c3fbb0514bfc 3
xshige 0:c3fbb0514bfc 4
xshige 0:c3fbb0514bfc 5 /*
xshige 0:c3fbb0514bfc 6
xshige 0:c3fbb0514bfc 7 (Execute Sample)
xshige 0:c3fbb0514bfc 8 PC side:
xshige 0:c3fbb0514bfc 9 telnet 192.168.0.25 12345
xshige 0:c3fbb0514bfc 10 Trying 192.168.0.25...
xshige 0:c3fbb0514bfc 11 Connected to 192.168.0.25.
xshige 0:c3fbb0514bfc 12 Escape character is '^]'.
xshige 0:c3fbb0514bfc 13
xshige 0:c3fbb0514bfc 14 mbed side:
xshige 0:c3fbb0514bfc 15 Setup OK
xshige 0:c3fbb0514bfc 16 mbed IP Address is 192.168.0.25
xshige 0:c3fbb0514bfc 17 Binding..
xshige 0:c3fbb0514bfc 18 Listening...
xshige 0:c3fbb0514bfc 19 Listening: TCP Socket Accepted
xshige 0:c3fbb0514bfc 20 Listening: Incoming TCP connection from 192.168.0.7
xshige 0:c3fbb0514bfc 21 TCP Socket Readable
xshige 0:c3fbb0514bfc 22 Received&Wrote:test text
xshige 0:c3fbb0514bfc 23
xshige 0:c3fbb0514bfc 24 TCP Socket Writable
xshige 0:c3fbb0514bfc 25
xshige 0:c3fbb0514bfc 26
xshige 0:c3fbb0514bfc 27 */
xshige 0:c3fbb0514bfc 28
xshige 0:c3fbb0514bfc 29 #include "mbed.h"
xshige 0:c3fbb0514bfc 30 #include "EthernetNetIf.h"
xshige 0:c3fbb0514bfc 31 #include "TCPSocket.h"
hakuturu583 2:2eb3f4362288 32 #include "Json.h"
xshige 0:c3fbb0514bfc 33
hakuturu583 2:2eb3f4362288 34 PwmOut led1(LED1, "led1");
hakuturu583 2:2eb3f4362288 35 PwmOut led4(LED4, "led4");
hakuturu583 2:2eb3f4362288 36 PwmOut left_thrust_pin(p21);
hakuturu583 2:2eb3f4362288 37 PwmOut right_thrust_pin(p22);
xshige 0:c3fbb0514bfc 38
xshige 0:c3fbb0514bfc 39 // EthernetNetIf eth;
xshige 0:c3fbb0514bfc 40 EthernetNetIf eth(
xshige 0:c3fbb0514bfc 41 IpAddr(192,168,0,25), //IP Address
xshige 0:c3fbb0514bfc 42 IpAddr(255,255,255,0), //Network Mask
xshige 0:c3fbb0514bfc 43 IpAddr(192,168,0,1), //Gateway
xshige 0:c3fbb0514bfc 44 IpAddr(192,168,0,1) //DNS
xshige 0:c3fbb0514bfc 45 );
xshige 0:c3fbb0514bfc 46
xshige 0:c3fbb0514bfc 47 #define TCP_LISTENING_PORT 12345
xshige 0:c3fbb0514bfc 48
xshige 0:c3fbb0514bfc 49 TCPSocket ListeningSock;
xshige 0:c3fbb0514bfc 50 TCPSocket* pConnectedSock; // for ConnectedSock
xshige 0:c3fbb0514bfc 51 Host client;
xshige 0:c3fbb0514bfc 52 TCPSocketErr err;
hakuturu583 2:2eb3f4362288 53 float left_motor_thrust = 0.0;
hakuturu583 2:2eb3f4362288 54 float right_motor_thrust = 0.0;
hakuturu583 2:2eb3f4362288 55
hakuturu583 2:2eb3f4362288 56 float clamp(const float & value, const float & min = 0.0, const float & max = 1.0)
hakuturu583 2:2eb3f4362288 57 {
hakuturu583 2:2eb3f4362288 58 if(value <= min) {
hakuturu583 2:2eb3f4362288 59 return min;
hakuturu583 2:2eb3f4362288 60 }
hakuturu583 2:2eb3f4362288 61 if(value >= max) {
hakuturu583 2:2eb3f4362288 62 return max;
hakuturu583 2:2eb3f4362288 63 }
hakuturu583 2:2eb3f4362288 64 return value;
hakuturu583 2:2eb3f4362288 65 }
xshige 0:c3fbb0514bfc 66
xshige 0:c3fbb0514bfc 67 void onConnectedTCPSocketEvent(TCPSocketEvent e)
xshige 0:c3fbb0514bfc 68 {
xshige 0:c3fbb0514bfc 69 switch(e)
xshige 0:c3fbb0514bfc 70 {
xshige 0:c3fbb0514bfc 71 case TCPSOCKET_CONNECTED:
xshige 0:c3fbb0514bfc 72 printf("TCP Socket Connected\r\n");
xshige 0:c3fbb0514bfc 73 break;
xshige 0:c3fbb0514bfc 74 case TCPSOCKET_WRITEABLE:
xshige 0:c3fbb0514bfc 75 //Can now write some data...
xshige 0:c3fbb0514bfc 76 printf("TCP Socket Writable\r\n");
xshige 0:c3fbb0514bfc 77 break;
xshige 0:c3fbb0514bfc 78 case TCPSOCKET_READABLE:
xshige 0:c3fbb0514bfc 79 //Can now read dome data...
xshige 0:c3fbb0514bfc 80 printf("TCP Socket Readable\r\n");
xshige 0:c3fbb0514bfc 81 // Read in any available data into the buffer
xshige 0:c3fbb0514bfc 82 char buff[128];
hakuturu583 2:2eb3f4362288 83 bool succees = false;
xshige 0:c3fbb0514bfc 84 while ( int len = pConnectedSock->recv(buff, 128) ) {
hakuturu583 2:2eb3f4362288 85 Json json(buff, len);
hakuturu583 2:2eb3f4362288 86 if (!json.isValidJson()) {
hakuturu583 2:2eb3f4362288 87 succees = false;
hakuturu583 2:2eb3f4362288 88 }
hakuturu583 2:2eb3f4362288 89 else {
hakuturu583 2:2eb3f4362288 90 int left_index = json.findKeyIndexIn ("left", 0 );
hakuturu583 2:2eb3f4362288 91 int right_index = json.findKeyIndexIn ("right", 0 );
hakuturu583 2:2eb3f4362288 92 int left_value_index = json.findChildIndexOf(left_index, -1);
hakuturu583 2:2eb3f4362288 93 int right_value_index = json.findChildIndexOf(right_index, -1);
hakuturu583 2:2eb3f4362288 94 if(left_index == -1 || right_index == -1) {
hakuturu583 2:2eb3f4362288 95 succees = false;
hakuturu583 2:2eb3f4362288 96 }
hakuturu583 2:2eb3f4362288 97 else {
hakuturu583 2:2eb3f4362288 98 if(left_value_index > 0 && right_value_index > 0) {
hakuturu583 2:2eb3f4362288 99 if(json.tokenNumberValue(left_value_index, left_motor_thrust) == 0 &&
hakuturu583 2:2eb3f4362288 100 json.tokenNumberValue(right_value_index, right_motor_thrust) == 0) {
hakuturu583 2:2eb3f4362288 101 succees = true;
hakuturu583 2:2eb3f4362288 102 }
hakuturu583 2:2eb3f4362288 103 }
hakuturu583 2:2eb3f4362288 104 }
hakuturu583 2:2eb3f4362288 105 }
hakuturu583 2:2eb3f4362288 106 /*
hakuturu583 2:2eb3f4362288 107 left_motor_thrust = (unsigned char)buff[0];
hakuturu583 2:2eb3f4362288 108 right_motor_thrust = (unsigned char)buff[1];
hakuturu583 2:2eb3f4362288 109 */
hakuturu583 2:2eb3f4362288 110 // And send straight back out again
hakuturu583 2:2eb3f4362288 111 // pConnectedSock->send(buff, len);
xshige 1:da09e6a94937 112 buff[len]=0; // make terminater
xshige 0:c3fbb0514bfc 113 printf("Received&Wrote:%s\r\n",buff);
xshige 0:c3fbb0514bfc 114 }
hakuturu583 2:2eb3f4362288 115 if(!succees) {
hakuturu583 2:2eb3f4362288 116 left_motor_thrust = 0.0;
hakuturu583 2:2eb3f4362288 117 right_motor_thrust = 0.0;
hakuturu583 2:2eb3f4362288 118 }
xshige 0:c3fbb0514bfc 119 break;
xshige 0:c3fbb0514bfc 120 case TCPSOCKET_CONTIMEOUT:
xshige 0:c3fbb0514bfc 121 printf("TCP Socket Timeout\r\n");
xshige 0:c3fbb0514bfc 122 break;
xshige 0:c3fbb0514bfc 123 case TCPSOCKET_CONRST:
xshige 0:c3fbb0514bfc 124 printf("TCP Socket CONRST\r\n");
xshige 0:c3fbb0514bfc 125 break;
xshige 0:c3fbb0514bfc 126 case TCPSOCKET_CONABRT:
xshige 0:c3fbb0514bfc 127 printf("TCP Socket CONABRT\r\n");
xshige 0:c3fbb0514bfc 128 break;
xshige 0:c3fbb0514bfc 129 case TCPSOCKET_ERROR:
xshige 0:c3fbb0514bfc 130 printf("TCP Socket Error\r\n");
xshige 0:c3fbb0514bfc 131 break;
xshige 0:c3fbb0514bfc 132 case TCPSOCKET_DISCONNECTED:
xshige 0:c3fbb0514bfc 133 //Close socket...
xshige 0:c3fbb0514bfc 134 printf("TCP Socket Disconnected\r\n");
xshige 0:c3fbb0514bfc 135 pConnectedSock->close();
xshige 0:c3fbb0514bfc 136 break;
xshige 0:c3fbb0514bfc 137 default:
xshige 0:c3fbb0514bfc 138 printf("DEFAULT\r\n");
xshige 0:c3fbb0514bfc 139 }
xshige 0:c3fbb0514bfc 140 }
xshige 0:c3fbb0514bfc 141
xshige 0:c3fbb0514bfc 142
xshige 0:c3fbb0514bfc 143 void onListeningTCPSocketEvent(TCPSocketEvent e)
xshige 0:c3fbb0514bfc 144 {
xshige 0:c3fbb0514bfc 145 switch(e)
xshige 0:c3fbb0514bfc 146 {
xshige 0:c3fbb0514bfc 147 case TCPSOCKET_ACCEPT:
xshige 0:c3fbb0514bfc 148 printf("Listening: TCP Socket Accepted\r\n");
xshige 0:c3fbb0514bfc 149 // Accepts connection from client and gets connected socket.
xshige 0:c3fbb0514bfc 150 err=ListeningSock.accept(&client, &pConnectedSock);
xshige 0:c3fbb0514bfc 151 if (err) {
xshige 0:c3fbb0514bfc 152 printf("onListeningTcpSocketEvent : Could not accept connection.\r\n");
xshige 0:c3fbb0514bfc 153 return; //Error in accept, discard connection
xshige 0:c3fbb0514bfc 154 }
xshige 0:c3fbb0514bfc 155 // Setup the new socket events
xshige 0:c3fbb0514bfc 156 pConnectedSock->setOnEvent(&onConnectedTCPSocketEvent);
xshige 0:c3fbb0514bfc 157 // We can find out from where the connection is coming by looking at the
xshige 0:c3fbb0514bfc 158 // Host parameter of the accept() method
xshige 0:c3fbb0514bfc 159 IpAddr clientIp = client.getIp();
xshige 0:c3fbb0514bfc 160 printf("Listening: Incoming TCP connection from %d.%d.%d.%d\r\n",
xshige 0:c3fbb0514bfc 161 clientIp[0], clientIp[1], clientIp[2], clientIp[3]);
xshige 0:c3fbb0514bfc 162 break;
xshige 0:c3fbb0514bfc 163 // the following cases will not happen
xshige 0:c3fbb0514bfc 164 case TCPSOCKET_CONNECTED:
xshige 0:c3fbb0514bfc 165 printf("Listening: TCP Socket Connected\r\n");
xshige 0:c3fbb0514bfc 166 break;
xshige 0:c3fbb0514bfc 167 case TCPSOCKET_WRITEABLE:
xshige 0:c3fbb0514bfc 168 printf("Listening: TCP Socket Writable\r\n");
xshige 0:c3fbb0514bfc 169 break;
xshige 0:c3fbb0514bfc 170 case TCPSOCKET_READABLE:
xshige 0:c3fbb0514bfc 171 printf("Listening: TCP Socket Readable\r\n");
xshige 0:c3fbb0514bfc 172 break;
xshige 0:c3fbb0514bfc 173 case TCPSOCKET_CONTIMEOUT:
xshige 0:c3fbb0514bfc 174 printf("Listening: TCP Socket Timeout\r\n");
xshige 0:c3fbb0514bfc 175 break;
xshige 0:c3fbb0514bfc 176 case TCPSOCKET_CONRST:
xshige 0:c3fbb0514bfc 177 printf("Listening: TCP Socket CONRST\r\n");
xshige 0:c3fbb0514bfc 178 break;
xshige 0:c3fbb0514bfc 179 case TCPSOCKET_CONABRT:
xshige 0:c3fbb0514bfc 180 printf("Listening: TCP Socket CONABRT\r\n");
xshige 0:c3fbb0514bfc 181 break;
xshige 0:c3fbb0514bfc 182 case TCPSOCKET_ERROR:
xshige 0:c3fbb0514bfc 183 printf("Listening: TCP Socket Error\r\n");
xshige 0:c3fbb0514bfc 184 break;
xshige 0:c3fbb0514bfc 185 case TCPSOCKET_DISCONNECTED:
xshige 0:c3fbb0514bfc 186 //Close socket...
xshige 0:c3fbb0514bfc 187 printf("Listening: TCP Socket Disconnected\r\n");
xshige 0:c3fbb0514bfc 188 ListeningSock.close();
xshige 0:c3fbb0514bfc 189 break;
xshige 0:c3fbb0514bfc 190 default:
xshige 0:c3fbb0514bfc 191 printf("DEFAULT\r\n");
xshige 0:c3fbb0514bfc 192 };
xshige 0:c3fbb0514bfc 193 }
xshige 0:c3fbb0514bfc 194
xshige 0:c3fbb0514bfc 195 int main() {
hakuturu583 2:2eb3f4362288 196 led1.period(0.002);
hakuturu583 2:2eb3f4362288 197 led4.period(0.002);
hakuturu583 2:2eb3f4362288 198 left_thrust_pin.period(0.002);
hakuturu583 2:2eb3f4362288 199 right_thrust_pin.period(0.002);
xshige 0:c3fbb0514bfc 200 printf("\r\n");
xshige 0:c3fbb0514bfc 201 printf("Setting up...\r\n");
xshige 0:c3fbb0514bfc 202 EthernetErr ethErr = eth.setup();
xshige 0:c3fbb0514bfc 203 if(ethErr)
xshige 0:c3fbb0514bfc 204 {
xshige 0:c3fbb0514bfc 205 printf("Error %d in setup.\r\n", ethErr);
xshige 0:c3fbb0514bfc 206 return -1;
xshige 0:c3fbb0514bfc 207 }
xshige 0:c3fbb0514bfc 208 printf("Setup OK\r\n");
xshige 0:c3fbb0514bfc 209
xshige 0:c3fbb0514bfc 210 IpAddr ip = eth.getIp();
xshige 0:c3fbb0514bfc 211 printf("mbed IP Address is %d.%d.%d.%d\r\n", ip[0], ip[1], ip[2], ip[3]);
xshige 0:c3fbb0514bfc 212
xshige 0:c3fbb0514bfc 213
xshige 0:c3fbb0514bfc 214 // Set the callbacks for Listening
xshige 0:c3fbb0514bfc 215 ListeningSock.setOnEvent(&onListeningTCPSocketEvent);
xshige 0:c3fbb0514bfc 216
xshige 0:c3fbb0514bfc 217 // bind and listen on TCP
xshige 0:c3fbb0514bfc 218 err=ListeningSock.bind(Host(IpAddr(), TCP_LISTENING_PORT));
xshige 0:c3fbb0514bfc 219 printf("Binding..\r\n");
xshige 0:c3fbb0514bfc 220 if(err)
xshige 0:c3fbb0514bfc 221 {
xshige 0:c3fbb0514bfc 222 //Deal with that error...
xshige 0:c3fbb0514bfc 223 printf("Binding Error\n");
xshige 0:c3fbb0514bfc 224 }
xshige 0:c3fbb0514bfc 225 err=ListeningSock.listen(); // Starts listening
xshige 0:c3fbb0514bfc 226 printf("Listening...\r\n");
xshige 0:c3fbb0514bfc 227 if(err)
xshige 0:c3fbb0514bfc 228 {
xshige 0:c3fbb0514bfc 229 printf("Listening Error\r\n");
xshige 0:c3fbb0514bfc 230 }
xshige 0:c3fbb0514bfc 231
xshige 0:c3fbb0514bfc 232 Timer tmr;
xshige 0:c3fbb0514bfc 233 tmr.start();
hakuturu583 2:2eb3f4362288 234 float timer_count = 0.0;
xshige 0:c3fbb0514bfc 235
xshige 0:c3fbb0514bfc 236 while(true)
xshige 0:c3fbb0514bfc 237 {
xshige 0:c3fbb0514bfc 238 Net::poll();
hakuturu583 2:2eb3f4362288 239 if(tmr.read() > 0.001) // sec
xshige 0:c3fbb0514bfc 240 {
hakuturu583 2:2eb3f4362288 241 timer_count = timer_count + 0.001;
hakuturu583 2:2eb3f4362288 242 if(timer_count >= 1.0) {
hakuturu583 2:2eb3f4362288 243 timer_count = 0.0;
hakuturu583 2:2eb3f4362288 244 led1 = 0.5 + clamp(left_motor_thrust, -1, 1) * 0.5;
hakuturu583 2:2eb3f4362288 245 led4 = 0.5 + clamp(right_motor_thrust, -1, 1) * 0.5;
hakuturu583 2:2eb3f4362288 246 left_thrust_pin = 0.75 + clamp(left_motor_thrust, -1, 1) * 0.2;
hakuturu583 2:2eb3f4362288 247 right_thrust_pin = 0.75 + clamp(right_motor_thrust, -1, 1) * 0.2;
hakuturu583 2:2eb3f4362288 248 }
xshige 0:c3fbb0514bfc 249 }
xshige 0:c3fbb0514bfc 250 }
xshige 0:c3fbb0514bfc 251 }