Diff: main.cpp

Revision:

15:688b3e3958fd

Parent:

13:a10300cac491

--- a/main.cpp	Fri Jan 11 16:51:46 2013 +0000
+++ b/main.cpp	Fri Aug 23 21:45:08 2013 +0000
@@ -1,290 +1,257 @@
-/*
-This file contains 3 examples:
+// Copyright (c) 2013, jake (at) allaboutjake (dot) com
+// All rights reserved.
+// 
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above copyright
+//       notice, this list of conditions and the following disclaimer in the
+//       documentation and/or other materials provided with the distribution.
+//     * The name of the author and/or copyright holder nor the
+//       names of its contributors may be used to endorse or promote products
+//       derived from this software without specific prior written permission.
+// 
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER, AUTHOR, OR ANY CONTRIBUTORS
+// BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE 
+// GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 
+// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT 
+// OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
-ONE   : Original example with paint demo.
-TWO   : Example for displaying a bitmap read from SD card.
-        Download the house.bmp bitmap file from http://mbed.org/media/uploads/frankvnk/house.bmp
-        Copy this file to the root of an SD card, insert it into the Mini-DK.
-THREE : Example for copying a bitmap from SD to flash memory, use it as background and
-        write text without disrupting the background image.
-        Download the house.bmp bitmap file from http://mbed.org/media/uploads/frankvnk/house.bmp
-        Copy this file to the root of an SD card, insert it into the Mini-DK.
-
-IMPORTANT:
-If copy to flash option is not needed - enable //#define NO_FLASH_BUFFER in Mini_DK.h
+// DESCRIPTION OF FILE:
+//
+// This file contains the main entry point for the firmware.  It sets up 
+// the necessary hardware peripherals and starts the application threads.
+//
 
 
-UNCOMMENT THE DESIRED CODE TO TEST.
-
-*/
-
-// =========================================================================================================
-// ================================================== ONE ==================================================
-// =========================================================================================================
+#include "main.h"
 #include "stdio.h"
 #include "mbed.h"
 #include "Mini_DK.h"
+#include "EthernetInterface.h"
+#include "NTPClient.h"
+#include "RTC.h"
+#include "USBHostSerial.h"
+#include "makerbot.h"
+#include "SimpleSocket.h"
+#include "readline.h"
+#include "telnetd.h"
+#include "httpd.h"
+#include "NTPClient.h"
+#include "NTPClient.h"
 
-extern unsigned char p1[];  // the mbed logo
-#define RGB565CONVERT(red, green, blue) (uint16_t)( (( red   >> 3 ) << 11 ) | (( green >> 2 ) << 5  ) | ( blue  >> 3 ))
+#ifdef TARGET_MINIDK
+    //Define the pins and objects related to the Mini_DK2 development board
+    DigitalOut led1(DK_LED1);
+    DigitalOut led2(DK_LED2);
+    DigitalOut usbpwr(USB_PPWR);
 
-DigitalOut led(DK_LED1);
-// TFT -> mosi, miso, sclk, cs
-SPI_TFT TFT(LCD_SDI, LCD_SDO, LCD_SCK, LCD_CS,"TFT");
-// ADS7843 -> mosi, miso, sclk, cs, irq, SPI_TFT
-TouchScreenADS7843 TP(TP_SDI ,TP_SDO ,TP_SCK ,TP_CS ,TP_IRQ, &TFT);
+    InterruptIn key1(DK_KEY1);
+    InterruptIn key2(DK_KEY2);
+#ifdef MINIDK_HAS_LCD
+    // TFT -> mosi, miso, sclk, cs
+    SPI_TFT TFT(LCD_SDI, LCD_SDO, LCD_SCK, LCD_CS,"TFT");
+
+    // ADS7843 -> mosi, miso, sclk, cs, irq, SPI_TFT
+    //TouchScreenADS7843 TP(TP_SDI ,TP_SDO ,TP_SCK ,TP_CS ,TP_IRQ, &TFT);
+#endif
+
+#endif
 
-int main()
-{
-    unsigned short LCD_id;
-    TFT.claim(stdout);        // send stdout to the TFT display
+#ifdef TARGET_MBED
+    DigitalOut led1(LED1);
+    DigitalOut led2(LED2);
+#endif
+
+//Declare the serial interface
+Serial pc(USBTX, USBRX);
 
+//Declare the USBHostSerial and Makerbot object pointers
+USBHostSerial* serial;
+Makerbot* bot;
+
+//function to initialize the LCD (for Mini-DK2 only)
+void initialize_TFT() {
+#if defined(TARGET_MINIDK) && defined(MINIDK_HAS_LCD)
+    //TFT.claim(stdout);        // send stdout to the TFT display
     TFT.background(Black);    // set background to black
     TFT.foreground(White);    // set chars to white
-
-
-    // LCD demo
-    // first show the 4 directions
-    TFT.cls();
-    TFT.set_font((unsigned char*) Arial12x12);
-    TFT.set_orientation(0);
-    TFT.locate(0,0);
-    printf("  Hello Mbed 0");
-    TFT.set_orientation(1);
-    TFT.locate(0,0);
-    printf("  Hello Mbed 1");
-    TFT.set_orientation(2);
-    TFT.locate(0,0);
-    printf("  Hello Mbed 2");
-    TFT.set_orientation(3);
-    TFT.locate(0,0);
-    printf("  Hello Mbed 3");
-    TFT.set_orientation(1);
-    TFT.set_font((unsigned char*) Arial24x23);
-    TFT.locate(50,100);
-    printf("TFT orientation");
-
-    wait(2);
-
-    // draw some graphics
+    
     TFT.cls();
     TFT.set_orientation(1);
-    TFT.set_font((unsigned char*) Arial24x23);
-    TFT.locate(120,115);
-    printf("Graphic");
-    TFT.line(0,0,100,200,Green);
-    TFT.rect(100,50,50,50,Red);
-    TFT.fillrect(180,25,40,45,Blue);
-    TFT.draw_ellipse(80, 150, 33, 33, White);
-    TFT.fill_ellipse(80, 50, 33, 33, White);
-    wait(2);
-    TFT.cls();
-    TFT.draw_ellipse(160, 120, 100, 50, Yellow);
-    TFT.draw_ellipse(160, 120, 100, 100, Blue);
-    TFT.fill_ellipse(160, 120, 80, 40, Green);
-    wait(2);
-
-    // bigger text
-    TFT.foreground(White);
-    TFT.background(Blue);
-    TFT.cls();
-    TFT.set_font((unsigned char*) Arial24x23);
+    TFT.set_font((unsigned char*) Arial12x12);
     TFT.locate(0,0);
-    printf("Different Fonts :");
+#endif
+}
 
-    TFT.set_font((unsigned char*) Neu42x35);
-    TFT.locate(0,50);
-    printf("Hello");
-    TFT.set_font((unsigned char*) Arial24x23);
-    TFT.locate(50,100);
-    printf("Hello");
-    TFT.set_font((unsigned char*) Arial12x12);
-    TFT.locate(55,150);
-    printf("Hello");
-
-    TFT.set_orientation(2);
-    TFT.set_font((unsigned char*) Arial24x23);
-    TFT.locate(10,10);
-    printf("Hi mbed");
-    wait(2);
-
-    // mbed logo
-    TFT.set_orientation(1);
-    TFT.background(Black);
-    TFT.cls();
-    TFT.Bitmap(90,90,172,55,p1);
-
-    // Read LCD ID
-    TFT.set_orientation(0);
-    LCD_id = TFT.Read_ID();
-    TFT.locate(10,10);
-    printf("LCD: ILI%04X", LCD_id);
-    wait(2);
+// Configure and wait for a the USB cable to be connected to the Makerbot
+void serial_task(void const*) {
+    //Create the USBHostSerial object    
+    serial = new USBHostSerial;
+    
+    DISPLAY("Initializing USBHostSerial.\r\n");
+    DISPLAY("Trying to connect to serial device.\r\n");
+        
+    // try to connect a serial device.  Wait and retry if no connection
+    while(!serial->connect())
+        Thread::wait(500);
 
-    // RGB color wheel demo (cycle through all colors)
-    TFT.cls();
-    TFT.foreground(Yellow);    // set chars to yellow
-    TFT.set_font((unsigned char*) Arial12x12);
-    TFT.locate(10,10);
-    printf("RGB color wheel (2x)");
-
-    uint8_t r = 255, g = 0,  b = 0, step = 1, i;
-    for (i=0;i<2;i++)
-    {
-        for(;g<255;g+=step) {TFT.fillrect(70,110,100,100,RGB565CONVERT(r, g, b));}      // Cycle from FF0000 to FFFF00 : red to yellow
-        for(;r>0;r-=step)   {TFT.fillrect(70,110,100,100,RGB565CONVERT(r, g, b));}      // Cycle from FFFF00 to 00FF00 : yellow to green
-        for(;b<255;b+=step) {TFT.fillrect(70,110,100,100,RGB565CONVERT(r, g, b));}      // Cycle from 00FF00 to 00FFFF : green to cyan
-        for(;g>0;g-=step)   {TFT.fillrect(70,110,100,100,RGB565CONVERT(r, g, b));}      // Cycle from 00FFFF to 0000FF : cyan to blue
-        for(;r<255;r+=step) {TFT.fillrect(70,110,100,100,RGB565CONVERT(r, g, b));}      // Cycle from 0000FF to FF00FF : blue to purple
-        for(;b>0;b-=step)   {TFT.fillrect(70,110,100,100,RGB565CONVERT(r, g, b));}      // Cycle from FF00FF to FF0000 : purple to red
-    }
-    wait(2);
+    //Set N,8,1
+    DISPLAY("Setting serial parameters.\r\n");
+    serial->format(8, USBHostSerial::None, 1);
+    
+    //Set baud to 115200 (as is used by the Makerbot)
+    DISPLAY("Setting baud to 115200\r\n");
+    serial->baud(115200);
+    
+    //All done!
+    DISPLAY("Serial initialized.\r\n");
+    
+    //Create the bot object for interacting with the machine over the s3g protocol
+    bot = new Makerbot(serial);
+    
+    //Quick synchronizaton of the packet stream
+    bot->getMakerbotVersion();
+    bot->flushInputChannel();
+    
+    //Get the version of the makerbot
+    float version = bot->getMakerbotVersion();
+    DISPLAY("Makerbot version: %0.1f\r\n", version);
+    
+    //Get the bot name
+    char* bot_name = bot->getMachineName();   
+    DISPLAY("Machine name: %s\r\n", bot_name);
+    
+}
 
-    // Touchpanel demo
-    TP.TouchPanel_Calibrate();
-    TFT.set_font((unsigned char*) Arial12x12);
-    TFT.set_orientation(0);
-    TFT.locate(0,0);
-    printf(" X:");
-    TFT.locate(70,0);
-    printf(" Y:");
-    while (1)
-    {
-        if (!TP._tp_irq)
-        {
-            if (TP.Read_Ads7846())
-            {
-                TP.getDisplayPoint() ;
-                TP.TP_DrawPoint(TP.display.x,TP.display.y, Blue);
-                TFT.locate(25,0);
-                printf("%03d",TP.display.x);
-                TFT.locate(95,0);
-                printf("%03d",TP.display.y);
-                // Touchscreen area is larger than LCD area.
-                // We use the bottom area outside the LCD area to clear the screen (y value > 320).
-                if (TP.display.y > 320)
-                {
-                    TFT.cls();
-                    TFT.locate(0,0);
-                    printf(" X:");
-                    TFT.locate(70,0);
-                    printf(" Y:");
-                }
-            }
-        }
-    }
+
+
+
+// A pointer for the task that acts on the button interrupts
+Thread* buttonTask;
+
+// Interrupt handler for the first button
+void isr_key1() {
+    //Set a signal 0b00000001 = button 1.
+    buttonTask->signal_set(0x1);
+}
+ 
+// Interrupt handler for the second button
+void isr_key2() {
+    //Set a signal 0b00000010 = button 2.
+    buttonTask->signal_set(0x2);
 }
 
-/*
-// =========================================================================================================
-// ================================================== TWO ==================================================
-// =========================================================================================================
-
-#include "stdio.h"
-#include "mbed.h"
-#include "SDFileSystem.h"
-#include "Mini_DK.h"
-
-// SD card
-SDFileSystem sd(SD_SDI, SD_SDO, SD_SCK, SD_CS, "sd");
-// TFT -> mosi, miso, sclk, cs
-SPI_TFT TFT(LCD_SDI, LCD_SDO, LCD_SCK, LCD_CS,"TFT");
-// ADS7843 -> mosi, miso, sclk, cs, irq, SPI_TFT
-TouchScreenADS7843 TP(TP_SDI ,TP_SDO ,TP_SCK ,TP_CS ,TP_IRQ, &TFT);
-
-int main()
-{
-    TFT.background(Black);    // set background to black
-    TFT.foreground(White);    // set chars to white
-
-    TFT.claim(stdout);        // send stdout to the TFT display
-    TFT.cls();
-    TFT.set_font((unsigned char*) Arial12x12);
-    TFT.set_orientation(1);
-
-    DISABLE_LCD_MISO;
-    int dummy = TFT.Bitmap(0,0,"/sd/house.bmp");
-    ENABLE_LCD_MISO;
-    TFT.locate(0,0);
-    printf("%02d",dummy); 
+//The task that handles the button presses
+void button_task(void const*) {
+    while (1) {
+        //Wait for any signal to this thread
+        osEvent evt = Thread::signal_wait(0);
+        
+        // If button=1 then send the pause/resume command;        
+        if (evt.value.signals & 0x01) {
+            if (bot) {
+                Makerbot::MakerbotBuildState state = bot->getBuildState();
+                if (state.build_state == Makerbot::BUILD_STATE_ERROR) {
+                    //DISPLAY("Error: unable to determine build state.  Sending pause/resume command in the blind.\r\n");
+                    bot->pauseResume();
+                } else if (state.build_state == Makerbot::BUILD_RUNNING) {
+                    bot->pauseResume();
+                    //DISPLAY("Pausing build.\r\n");
+                } else {
+                    //DISPLAY("Error: Not currently building, cannot pause\r\n");
+                }
+            } else {
+               //DISPLAY("Error: connection to Makerbot not established.\r\n");                                    
+            }
+        }
+        
+        // If button=2 print a message to the LCD (debug purposes)
+        //TODO: replace this with something useful
+        if (evt.value.signals & 0x02) {
+            if (bot) {
+                Makerbot::MakerbotBuildState state = bot->getBuildState();
+                if (state.build_state == Makerbot::BUILD_STATE_ERROR) {
+                    //DISPLAY("Error: unable to determine build state.  Sending pause/resume command in the blind.\r\n");
+                    bot->pauseResume();
+                } else if (state.build_state == Makerbot::BUILD_PAUSED) {
+                    bot->pauseResume();
+                    //DISPLAY("Pausing build.\r\n");
+                } else {
+                    //DISPLAY("Error: Not currently paused.  Cannot resume.\r\n");
+                }
+            } else {
+                //DISPLAY("Error: connection to Makerbot not established.\r\n");                                    
+            }
+            break;
+        }        
+        Thread::wait(250);
+    }
 }
-*/
-
-/*
-// =========================================================================================================
-// ================================================= THREE =================================================
-// =========================================================================================================
-
-#include "stdio.h"
-#include "mbed.h"
-#include "SDFileSystem.h"
-#include "Mini_DK.h"
- 
-// SD card
-SDFileSystem sd(SD_SDI, SD_SDO, SD_SCK, SD_CS, "sd");
-// TFT -> mosi, miso, sclk, cs
-SPI_TFT TFT(LCD_SDI, LCD_SDO, LCD_SCK, LCD_CS,"TFT");
-// ADS7843 -> mosi, miso, sclk, cs, irq, SPI_TFT
-TouchScreenADS7843 TP(TP_SDI ,TP_SDO ,TP_SCK ,TP_CS ,TP_IRQ, &TFT);
-
-
-Timer timer;
  
-int main()
-{
-    DISABLE_LCD_MISO;
-    TFT.background(Black);    // set background to black
-    TFT.foreground(White);    // set chars to white
- 
-    TFT.claim(stdout);        // send stdout to the TFT display
-    TFT.cls();
-    TFT.set_font((unsigned char*) Arial12x12);
-    TFT.set_orientation(1);
+
+int main() {
+    //Set the baud rate off the serial debug console.
+    pc.baud(115200);
+    pc.printf("Firmware Version: %s\r\n", FIRMWARE_VERSION);
+     
+#ifdef TARGET_MINIDK  
+
+#ifdef MINIDK_HAS_LCD
+    //Initialize the LCD
+    initialize_TFT();
+    DISPLAY("Firmware Version: %s\r\n", FIRMWARE_VERSION);
+#endif
+    //Attach the ISR's to the buttons
+    key1.fall(isr_key1);
+    key2.fall(isr_key2);
+
+    //Start the task that watches for button press signals
+    buttonTask = new Thread(button_task, NULL, osPriorityNormal, 128 * 4);
     
-    TFT.locate(0,200);
-    printf("Loading from SD...");
-    TFT.Bitmap(0,0,"/sd/house.bmp");
-    
-    TFT.locate(0,0);
-    printf("Copying to flash...");
-    TFT.fileToFlash("/sd/house.bmp");
-    TFT.locate(0,40);
-    printf("Done: CLS in 2 seconds");
-    wait(2);
-    TFT.backgroundImage(false);
-    TFT.cls();
-    wait(2);
-    TFT.backgroundImage(true);
-   
+    usbpwr=1; //turn on power to the USBHost port.
+#endif
+
+    // Print the MAC address for reference
+    char mac[6];
+    mbed_mac_address(mac);
+    DISPLAY("MAC ADDRESS: %02x:%02x:%02x:%02x:%02x:%02x\r\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]); 
+
     
-    timer.reset();
-    timer.start();
-    TFT.cls();
-    timer.stop();
-    TFT.foreground(Black);
-    TFT.locate(0,200);
-    printf("Wrote background in %d ms",timer.read_ms());
-    TFT.foreground(Black);
-
-    TFT.set_orientation(3);
-    TFT.locate(0,200);
-    printf("Wrote background in %d ms",timer.read_ms());
-
-    wait(5);
-    TFT.cls();
-    TFT.set_font((unsigned char*) Neu42x35);
-    TFT.locate(0,50);
-    printf("Orient = 3");
-    TFT.set_orientation(0);
-    TFT.locate(0,50);
-    printf("Orient = 0");
-    wait(5);
-
-    TFT.set_orientation(0);
-    TFT.cls();
-    TFT.locate(0,50);
-    printf("Orient = 0");
+    DISPLAY("Negotiating network.\r\n");
+    EthernetInterface::init();
+    EthernetInterface::connect();
+    DISPLAY("IP Address: %s\r\n", EthernetInterface::getIPAddress());
+    
+    DISPLAY("Attempting to set clock...\r\n");
+    NTPClient* ntp = new NTPClient;
+    if (ntp->setTime("0.pool.ntp.org") == 0) {      
+      time_t ctTime;
+      ctTime = time(NULL);
+      DISPLAY("Time is set to (UTC): %s\r\n", ctime(&ctTime));
+    } else {
+      printf("Unable to set time\r\n");
+    }
+    delete ntp;
     
-    while(1);
-}
-*/
\ No newline at end of file
+    // Turn on LED1 (LED1 will blink once we get to main loop)
+    led1=1;
+    bot = NULL; //Initialize bot object to NULL so we know when there's a bot object by testing for null
+    
+    //Setup the serial and server tasks
+    Thread serialTask(serial_task, NULL, osPriorityNormal, 256 * 4); 
+    Thread serverTask(telnet_server_task, NULL, osPriorityNormal, 512 * 4);     
+    Thread serverTask2(http_server_task, NULL, osPriorityNormal, 512 * 4);     
+    
+    //Main loop-- blink the LED and yield to other tasks during WAIT.
+    while(1) {    
+        led1=!led1;
+        Thread::wait(500);
+    }
+}
\ No newline at end of file