Diff: main.cpp

Revision:

3:269f1844a464

Parent:

2:f3e4edf4d638

--- a/main.cpp	Thu Dec 14 05:11:38 2017 +0000
+++ b/main.cpp	Thu Dec 14 11:30:40 2017 +0000
@@ -37,13 +37,13 @@
     //inicializa o módulo ethernet
     eth.init();
     eth.connect();
-    
+
     Servo1.Enable(POS_CENTRO,20000);
     // inicializa threads
     tcp_server.start(tcp_server_thread);
     broadcast.start(udp_broadcast);
     //controle.start(controle_thread);
-    
+
     broadcast.join();
     printf("Todas as thread iniciadas\n");
 
@@ -59,55 +59,65 @@
     TCPSocketServer server;
     server.bind(ECHO_SERVER_PORT);
     server.listen();
-   
-        printf("\nWait for new connection...\n");
-        TCPSocketConnection client;
-        server.accept(client);
-        client.set_blocking(false, 1500); // Timeout after (1.5)s
+
+    printf("\nWait for new connection...\n");
+    TCPSocketConnection client;
+    server.accept(client);
+    client.set_blocking(false, 1500); // Timeout after (1.5)s
 
-        conectado = true;
-        printf("\nConnection from: %s\n", client.get_address());
-        char buffer[256];
-        while (true) {
-            int n = client.receive(buffer, sizeof(buffer));
-            
-            if (n <=1) {
-                //printf("Waiting messenger...");
-                //break;
-                }else{
+    conectado = true;
+    printf("\nConnection from: %s\n", client.get_address());
+    char buffer[256];
+    while (true) {
+        int n = client.receive(buffer, sizeof(buffer));
+
+        if (n <=1) {
+            //printf("Waiting messenger...");
+            //break;
+        } else {
 
             // print received message to terminal
             buffer[n] = '\0';
             printf("Received message from Client :'%s'\n",buffer);
-            
+
             int pos =  buffer[8] - '0';
- 
+
             if(pos == 1)setpoint = 20;
             else if(pos == 2)setpoint = 35;
             else if(pos == 3)setpoint = 50;
             printf("Setpoint: %d\n", setpoint);
- 
+
             m_ref.lock();
             // ref = atof(buffer);
             sprintf (buffer, "%s", client.get_address());
             m_ref.unlock();
- 
+
             m_ref.lock();
             sprintf (buffer, "%s", client.get_address());
             m_ref.unlock();
- 
+
             // print sending message to terminal
             printf("Sending message to Client: '%s'\n",buffer);
- 
+
             // Echo received message back to client
             //client.send_all(buffer, n);
-           // if (n <= 0) break;
-           memset(buffer,0,256);
-           Servo1.SetPosition(sizeof(buffer));
+            // if (n <= 0) break;
+            memset(buffer,0,256);
+            
+            if(buffer[0] == 'd') {
+                for(int pos = 1000; pos < 2000; pos +=25) {
+                    Servo1.SetPosition(pos);
+                }
+            } else if(buffer[0] == 'e') {
+                for(int pos = 2000; pos > 1000; pos -=25) {
+                    Servo1.SetPosition(pos);
+                }
             }
-        }
 
-        client.close();    
+        }
+    }
+
+    client.close();
 }
 
 void udp_broadcast ()