Jose Gutierrez Cabello / Mbed 2 deprecated ProjecteRobotFinal

Projecte final de Sistemes Encastats

Dependencies:   Hc05 RawSerialPc mbed-rtos mbed

main.cpp@3:4a598ab10e87, 2015-12-18 (annotated)

Committer:
jcabello7
Date:
Fri Dec 18 00:23:49 2015 +0000
Revision:
3:4a598ab10e87
Parent:
2:1ac2d1debc92
Child:
4:0a37a963b724
versi? final amb control de connexio, nom?s falta separar les funcions en llibreries

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jcabello7 0:be638f6ee353 1 #include "mbed.h"
jcabello7 0:be638f6ee353 2 #include "rtos.h"
jcabello7 3:4a598ab10e87 3
jcabello7 1:c603de57c8b6 4 // -----------------------------
jcabello7 1:c603de57c8b6 5 // ---- NO TOCAR DESDE AQUI ----
jcabello7 1:c603de57c8b6 6 // -----------------------------
jcabello7 0:be638f6ee353 7
jcabello7 2:1ac2d1debc92 8 //0, 60, 120, 180 i en negatiu
jcabello7 2:1ac2d1debc92 9
jcabello7 1:c603de57c8b6 10 #define longString 128 //longString es la longitud màxima del string
jcabello7 0:be638f6ee353 11
jcabello7 0:be638f6ee353 12 class Pc : public RawSerial {
jcabello7 0:be638f6ee353 13 public:
jcabello7 0:be638f6ee353 14 Pc(PinName tx, PinName rx) : RawSerial(tx, rx){
jcabello7 0:be638f6ee353 15 baud(115200);
jcabello7 0:be638f6ee353 16 };
jcabello7 0:be638f6ee353 17
jcabello7 0:be638f6ee353 18 void enviaString(char* str){
jcabello7 0:be638f6ee353 19 int i = 0;
jcabello7 0:be638f6ee353 20 while((i < longString) && (str[i] != '\0')) {
jcabello7 0:be638f6ee353 21 putc(str[i]);
jcabello7 0:be638f6ee353 22 i++;
jcabello7 0:be638f6ee353 23 }
jcabello7 0:be638f6ee353 24 putc(10);
jcabello7 0:be638f6ee353 25 };
jcabello7 0:be638f6ee353 26
jcabello7 0:be638f6ee353 27 bool llegirString(char* str){
jcabello7 0:be638f6ee353 28 if(readable()){
jcabello7 0:be638f6ee353 29 int i= 0;
jcabello7 0:be638f6ee353 30 str[i] = getc();
jcabello7 0:be638f6ee353 31 while((i < longString) && (str[i] != 13)) {
jcabello7 0:be638f6ee353 32 if (str[i] != '@')
jcabello7 0:be638f6ee353 33 i++;
jcabello7 0:be638f6ee353 34 str[i] = getc();
jcabello7 0:be638f6ee353 35 }
jcabello7 0:be638f6ee353 36 str[i] = '\0';
jcabello7 0:be638f6ee353 37 return true;
jcabello7 0:be638f6ee353 38 }
jcabello7 0:be638f6ee353 39 return false;
jcabello7 0:be638f6ee353 40 };
jcabello7 0:be638f6ee353 41
jcabello7 0:be638f6ee353 42
jcabello7 0:be638f6ee353 43 };
jcabello7 0:be638f6ee353 44
jcabello7 0:be638f6ee353 45 class Hc05 : public RawSerial {
jcabello7 1:c603de57c8b6 46 private:
jcabello7 1:c603de57c8b6 47 int mode, vel, ang;
jcabello7 3:4a598ab10e87 48 Timer *timer;
jcabello7 1:c603de57c8b6 49 char strLlegit[longString];
jcabello7 0:be638f6ee353 50 public:
jcabello7 0:be638f6ee353 51 //Mutex mutex;
jcabello7 0:be638f6ee353 52 Hc05(PinName tx, PinName rx) : RawSerial(tx, rx){
jcabello7 3:4a598ab10e87 53 baud(230400);
jcabello7 1:c603de57c8b6 54 mode = vel = ang = 0;
jcabello7 1:c603de57c8b6 55 iniString();
jcabello7 3:4a598ab10e87 56 timer = new Timer;
jcabello7 3:4a598ab10e87 57 timer->start();
jcabello7 0:be638f6ee353 58 };
jcabello7 0:be638f6ee353 59
jcabello7 3:4a598ab10e87 60 ~Hc05(){
jcabello7 3:4a598ab10e87 61 //timer.stop();
jcabello7 3:4a598ab10e87 62 };
jcabello7 3:4a598ab10e87 63
jcabello7 1:c603de57c8b6 64 void iniString(){
jcabello7 1:c603de57c8b6 65 strLlegit[0] = 'S';
jcabello7 1:c603de57c8b6 66 strLlegit[1] = 't';
jcabello7 1:c603de57c8b6 67 strLlegit[2] = 'r';
jcabello7 1:c603de57c8b6 68 strLlegit[3] = 'i';
jcabello7 1:c603de57c8b6 69 strLlegit[4] = 'n';
jcabello7 1:c603de57c8b6 70 strLlegit[5] = 'g';
jcabello7 1:c603de57c8b6 71 strLlegit[6] = '\0';
jcabello7 1:c603de57c8b6 72 };
jcabello7 1:c603de57c8b6 73
jcabello7 0:be638f6ee353 74 void enviaString(char* str){
jcabello7 0:be638f6ee353 75 int i = 0;
jcabello7 0:be638f6ee353 76 while((i < longString) && (str[i] != '\0')) {
jcabello7 0:be638f6ee353 77 putc(str[i]);
jcabello7 0:be638f6ee353 78 i++;
jcabello7 0:be638f6ee353 79 }
jcabello7 0:be638f6ee353 80 putc(13);
jcabello7 0:be638f6ee353 81 };
jcabello7 0:be638f6ee353 82
jcabello7 0:be638f6ee353 83
jcabello7 1:c603de57c8b6 84 bool llegirString(){
jcabello7 0:be638f6ee353 85 if(readable()){
jcabello7 3:4a598ab10e87 86
jcabello7 0:be638f6ee353 87 char c = getc();
jcabello7 0:be638f6ee353 88 int i = 0;
jcabello7 3:4a598ab10e87 89 //timer->reset();
jcabello7 0:be638f6ee353 90 //mutex.lock();
jcabello7 0:be638f6ee353 91 while((i < longString) && (c != 13)) {
jcabello7 0:be638f6ee353 92 if(c!='@'){
jcabello7 1:c603de57c8b6 93 strLlegit[i] = c;
jcabello7 0:be638f6ee353 94 i++;
jcabello7 0:be638f6ee353 95 }
jcabello7 3:4a598ab10e87 96 timer->reset();
jcabello7 0:be638f6ee353 97 c = getc();
jcabello7 0:be638f6ee353 98 }
jcabello7 1:c603de57c8b6 99 strLlegit[i] = '\0';
jcabello7 0:be638f6ee353 100 //mutex.unlock();
jcabello7 0:be638f6ee353 101 return true;
jcabello7 0:be638f6ee353 102
jcabello7 0:be638f6ee353 103 }
jcabello7 0:be638f6ee353 104 return false;
jcabello7 0:be638f6ee353 105 };
jcabello7 0:be638f6ee353 106
jcabello7 1:c603de57c8b6 107 void tractaString(){
jcabello7 1:c603de57c8b6 108 if ((strLlegit[0] == 'a') && (strLlegit[1] == 'v') && (strLlegit[2] == 'a') && (strLlegit[3] == 'n'))
jcabello7 0:be638f6ee353 109 mode = 1;
jcabello7 1:c603de57c8b6 110 if ((strLlegit[0] == 'r') && (strLlegit[1] == 'o') && (strLlegit[2] == 't') && (strLlegit[3] == 'a'))
jcabello7 0:be638f6ee353 111 mode = 2;
jcabello7 1:c603de57c8b6 112 if ((strLlegit[0] == 's') && (strLlegit[1] == 't') && (strLlegit[2] == 'o') && (strLlegit[3] == 'p')){
jcabello7 0:be638f6ee353 113 mode = 0;
jcabello7 1:c603de57c8b6 114 vel = 0;
jcabello7 1:c603de57c8b6 115 ang = 0;
jcabello7 1:c603de57c8b6 116 }
jcabello7 0:be638f6ee353 117 if ((mode == 1) || (mode==2)){
jcabello7 1:c603de57c8b6 118 char svel[5], sang[5];
jcabello7 1:c603de57c8b6 119 for(int i = 0; i<=4;i++){
jcabello7 1:c603de57c8b6 120 sang[i] = strLlegit[i+5];
jcabello7 1:c603de57c8b6 121 svel[i] = strLlegit[i+10];
jcabello7 0:be638f6ee353 122 }
jcabello7 1:c603de57c8b6 123 sang[4] = svel[4] = '\0';
jcabello7 0:be638f6ee353 124 vel = atoi(svel);
jcabello7 0:be638f6ee353 125 ang = atoi(sang);
jcabello7 0:be638f6ee353 126 }
jcabello7 2:1ac2d1debc92 127 if ((strLlegit[0] == 'm') && (strLlegit[1] == 'o') && (strLlegit[2] == 'd') && (strLlegit[3] == 'e') && (strLlegit[5] == 'a') && (strLlegit[6] == 'u') && (strLlegit[7] == 't') && (strLlegit[8] == 'o'))
jcabello7 2:1ac2d1debc92 128 mode = 3;
jcabello7 0:be638f6ee353 129 };
jcabello7 1:c603de57c8b6 130
jcabello7 1:c603de57c8b6 131 int getMode(){return mode;};
jcabello7 1:c603de57c8b6 132 int getVel(){return vel;};
jcabello7 1:c603de57c8b6 133 int getAng(){return ang;};
jcabello7 1:c603de57c8b6 134 void getStringLlegit(char* str){
jcabello7 1:c603de57c8b6 135 int i = 0;
jcabello7 1:c603de57c8b6 136 while((i < longString) && (strLlegit[i] != '\0')) {
jcabello7 1:c603de57c8b6 137 str[i] = strLlegit[i];
jcabello7 1:c603de57c8b6 138 i++;
jcabello7 1:c603de57c8b6 139 }
jcabello7 1:c603de57c8b6 140 str[i] = '\0';
jcabello7 1:c603de57c8b6 141 };
jcabello7 3:4a598ab10e87 142
jcabello7 3:4a598ab10e87 143 void comprovaConnexio(){
jcabello7 3:4a598ab10e87 144 //char m[128];
jcabello7 3:4a598ab10e87 145 //snprintf(m, 128, "Mode: %d", getMode());
jcabello7 3:4a598ab10e87 146 //Pc::enviaString(m);
jcabello7 3:4a598ab10e87 147 if(getTimer() > 300)
jcabello7 3:4a598ab10e87 148 mode = -1;
jcabello7 3:4a598ab10e87 149 };
jcabello7 3:4a598ab10e87 150
jcabello7 3:4a598ab10e87 151 int getTimer(){
jcabello7 3:4a598ab10e87 152 return timer->read_ms();
jcabello7 3:4a598ab10e87 153 };
jcabello7 3:4a598ab10e87 154
jcabello7 3:4a598ab10e87 155
jcabello7 0:be638f6ee353 156 };
jcabello7 1:c603de57c8b6 157 // ----------------------------
jcabello7 1:c603de57c8b6 158 // ---- NO TOCAR FINS AQUI ----
jcabello7 1:c603de57c8b6 159 // ----------------------------
jcabello7 0:be638f6ee353 160
jcabello7 1:c603de57c8b6 161 Pc pc(USBTX, USBRX); //Per provar si funciona, no cal al programa
jcabello7 2:1ac2d1debc92 162 Hc05 bt(D8, D2); //Crea l'objecte bt, connectat als pins D8 (TX) i D2 (RX) (és la connexió sèrie BT)
jcabello7 1:c603de57c8b6 163 char prova[longString] = "hola"; //Per provar si funciona, no cal al programa
jcabello7 0:be638f6ee353 164
jcabello7 1:c603de57c8b6 165
jcabello7 1:c603de57c8b6 166 //Aquest serà el meu fil, que va llegint cada 300ms del HC-05
jcabello7 0:be638f6ee353 167 void llegir_thread(void const *args) {
jcabello7 0:be638f6ee353 168 while (true) {
jcabello7 3:4a598ab10e87 169 if(bt.llegirString())
jcabello7 3:4a598ab10e87 170 bt.tractaString();
jcabello7 3:4a598ab10e87 171
jcabello7 3:4a598ab10e87 172 bt.comprovaConnexio();
jcabello7 1:c603de57c8b6 173 bt.getStringLlegit(prova); //Per provar si funciona, no cal al programa
jcabello7 3:4a598ab10e87 174 Thread::wait(100);
jcabello7 3:4a598ab10e87 175 //bt.comprovaConnexio();
jcabello7 3:4a598ab10e87 176
jcabello7 0:be638f6ee353 177 }
jcabello7 0:be638f6ee353 178 }
jcabello7 1:c603de57c8b6 179
jcabello7 1:c603de57c8b6 180 //Aquest serà el programa principal
jcabello7 0:be638f6ee353 181 int main() {
jcabello7 1:c603de57c8b6 182
jcabello7 1:c603de57c8b6 183 Thread thread(llegir_thread); //Inicia el fil llegir_thread
jcabello7 3:4a598ab10e87 184 char m[128];
jcabello7 0:be638f6ee353 185 while (true) {
jcabello7 1:c603de57c8b6 186 pc.enviaString(prova); //Per provar si funciona, no cal al programa
jcabello7 1:c603de57c8b6 187 if(bt.getAng()<0) //Per provar si funciona, no cal al programa
jcabello7 1:c603de57c8b6 188 pc.enviaString("ANGLE<0"); //Per provar si funciona, no cal al programa
jcabello7 1:c603de57c8b6 189 if(bt.getVel()== 60) //Per provar si funciona, no cal al programa
jcabello7 1:c603de57c8b6 190 pc.enviaString("VEL=60"); //Per provar si funciona, no cal al programa
jcabello7 3:4a598ab10e87 191 //if(bt.getMode()<0)
jcabello7 3:4a598ab10e87 192 //pc.enviaString("ALERTA! S'ha perdut la connexio"); //Retorna 0 si ha llegit l'ordre parar, 1 per avançar, 2 per rotar, -1 si hi ha error de connexio
jcabello7 3:4a598ab10e87 193 snprintf(m, 128, "Mode: %d | timer: %dms", bt.getMode(), bt.getTimer());
jcabello7 3:4a598ab10e87 194 pc.enviaString(m);
jcabello7 1:c603de57c8b6 195 bt.getVel(); //Retorna un enter amb la velocitat (de 0 a 100)
jcabello7 1:c603de57c8b6 196 bt.getAng(); //Retorna un enter amb l'angle (de -180º a 180º)
jcabello7 3:4a598ab10e87 197 Thread::wait(500);
jcabello7 0:be638f6ee353 198 }
jcabello7 0:be638f6ee353 199 }