main.cpp

00001 #include <stdio.h>
00002 #include "mbed.h"
00003 #include "WizFi250Interface.h"
00004 #include "Servo.h"
00005 
00006 
00007 
00008 Serial pc(USBTX, USBRX);
00009 
00010 /* network setup */
00011 WizFi250Interface wizfi250(P13,P14,P11,P12,P15,NC,115200);
00012 TCPSocketServer server;
00013 TCPSocketConnection client; 
00014 
00015 #define SECURE WizFi250::SEC_WPA2_MIXED
00016 #define SSID "WIZnet_Boat"
00017 #define PASS "wiznetboat"
00018 #define PORT 5000
00019 
00020 
00021 /* motor setup */
00022 Servo servo(P23);
00023 PwmOut motor(P21);
00024 
00025 
00026 
00027 /* direction define */
00028 #define forward "WIZnet_boat_direction:forward"
00029 #define back "WIZnet_boat_direction:back"
00030 #define left "WIZnet_boat_direction:left"
00031 #define right "WIZnet_boat_direction:right"
00032 #define stop "WIZnet_boat_direction:stop"
00033 
00034 
00035 
00036 /* Connection Steps */
00037 typedef enum ConnectionStep { DISASSOCIATED = 1, ASSOCIATED, LISTENED, CONNECTED, DISCONNECTED } conStep;
00038 conStep ConnectionStep = DISASSOCIATED;
00039 
00040 /* functions */
00041 int TryApUp();
00042 int TryServerUpAndWaitClient();
00043 
00044 
00045 int main()
00046 {
00047     pc.baud(115200);
00048     motor.period_us(1000000/490);
00049     float speed = 0.0;   
00050     
00051     while(1)
00052     {
00053         char rcvBuf[1024] = {0,};
00054         int len = 0;
00055         
00056         switch(ConnectionStep)
00057         {
00058             case DISASSOCIATED:
00059                 TryApUp();
00060                 break;
00061                 
00062             case ASSOCIATED:
00063             case LISTENED:
00064                 TryServerUpAndWaitClient();
00065                 break;
00066                 
00067             case CONNECTED:       
00068             
00069                 if( client.is_connected() == 0 )  ConnectionStep = DISCONNECTED;
00070                 
00071                 if( wizfi250.readable(0) > 0 )
00072                 {
00073                     len = client.receive(rcvBuf, 1023);
00074                     if( len < 0 ) ConnectionStep = DISCONNECTED;
00075                     else if( len > 0)
00076                     {
00077                         if( strcmp(rcvBuf,forward) == 0 )
00078                         {
00079                             speed = speed + 0.01;   
00080                             printf("forward\r\n");
00081                         }
00082                         else if( strcmp(rcvBuf,back) == 0 )
00083                         {
00084                             speed = speed - 0.01;
00085                             printf("back\r\n");
00086                         }
00087                         else if( strcmp(rcvBuf,left) == 0 )
00088                         {
00089                             servo = servo - 0.1;
00090                             printf("left\r\n");
00091                         }
00092                         else if( strcmp(rcvBuf,right) == 0 )
00093                         {
00094                             servo = servo + 0.1;
00095                             printf("right\r\n");
00096                         }
00097                         else if( strcmp(rcvBuf,stop) == 0 )
00098                         { 
00099                             servo = 0.5;   // center
00100                             speed = 0;
00101                             printf("stop\r\n");
00102                         }
00103                         
00104                         if( speed < 0.55 ) speed = 0.55;
00105                         else if ( speed > 1.0 ) speed = 1.0;
00106                         printf("speed %.3f\r\n", speed);
00107                         motor.write(speed);
00108                     }
00109                 }
00110                 break;
00111             case DISCONNECTED:
00112                 servo = 0.5;
00113                 motor.write(0);
00114                 ConnectionStep = LISTENED;
00115         }
00116     }
00117 }
00118 
00119 int TryApUp()
00120 {
00121     
00122     if( wizfi250.isAssociated() == 1 ) return -1;
00123     
00124     printf(" AP UP\r\n");
00125     printf("SSID: %s\r\nPASS: %s", SSID, PASS);
00126     
00127     for(int i= 0; i<5; i++)
00128     {
00129         wizfi250.init("192.168.0.2","255.255.255.0","192.168.0.2");
00130         if ( wizfi250.connect(SECURE, SSID, PASS, WizFi250::WM_AP) )
00131             continue;
00132         else {
00133             printf("IP Address is %s\r\n", wizfi250.getIPAddress());
00134             if( wizfi250.isAssociated() == 1 )
00135             {
00136                 ConnectionStep = ASSOCIATED;
00137                 return 0;
00138             } else {
00139                 continue;    
00140             }       
00141         }
00142     }
00143     
00144     printf("Fail to make AP\r\n");
00145     ConnectionStep = DISASSOCIATED;
00146     return -1;
00147 }
00148 
00149 
00150 int TryServerUpAndWaitClient()
00151 {
00152     if( wizfi250.isAssociated() != 1 ) return -1;
00153 
00154     if( ConnectionStep == ASSOCIATED )
00155     {
00156         if( server.bind(PORT) < 0 )
00157         {
00158             printf("Bind fail..\r\n");
00159             return -1;
00160         }
00161         
00162         if( server.listen(1) < 0 )
00163         {
00164             printf("Listen fail..\r\n");
00165             return -1;
00166         } else {
00167             printf("Listen PORT: %d\r\n",PORT);    
00168             ConnectionStep = LISTENED;
00169         }
00170     }
00171     
00172     while(ConnectionStep == LISTENED)
00173     {
00174         if( server.accept(client) < 0 )
00175         {
00176             printf("accept fail..\r\n");
00177             return -1;
00178         }else{
00179             printf("Connection Success!!\r\nIP: %s\r\n", client.get_address());
00180             ConnectionStep = CONNECTED;
00181             return 0;
00182         }
00183     }
00184     
00185     return -1;
00186 }