main.cpp

00001 #include "mbed.h"
00002 #include "EthernetInterface.h"
00003 #include "Servo.h"
00004 #include <string.h>
00005 
00006 #define POS_CENTRO 1750
00007 #define POS_MAX (POS_CENTRO + 110)
00008 #define POS_MIN (POS_CENTRO - 110)
00009 #define DIST_MIN 10
00010 #define DIST_MAX 56
00011 #define RESOL 1
00012 #define PERIODO 10
00013 
00014 const int ECHO_SERVER_PORT = 1234;
00015 const int BROADCAST_PORT = 58083;
00016 
00017 bool conectado = false;
00018 
00019 int  setpoint;
00020 
00021 Thread tcp_server;
00022 Thread broadcast;
00023 EthernetInterface eth;
00024 
00025 Mutex m_dist;
00026 Mutex m_ref;
00027 
00028 unsigned int dist;
00029 Servo Servo1(D6);
00030 
00031 void tcp_server_thread ();
00032 void udp_broadcast ();
00033 
00034 
00035 int main (void)
00036 {
00037     //inicializa o módulo ethernet
00038     eth.init();
00039     eth.connect();
00040 
00041     Servo1.Enable(POS_CENTRO,20000);
00042     // inicializa threads
00043     tcp_server.start(tcp_server_thread);
00044     broadcast.start(udp_broadcast);
00045     //controle.start(controle_thread);
00046 
00047     broadcast.join();
00048     printf("Todas as thread iniciadas\n");
00049 
00050     while (true) {
00051 
00052     }
00053 }
00054 
00055 void tcp_server_thread ()
00056 {
00057     printf("\nServer IP Address is %s\n", eth.getIPAddress());
00058 
00059     TCPSocketServer server;
00060     server.bind(ECHO_SERVER_PORT);
00061     server.listen();
00062 
00063     printf("\nWait for new connection...\n");
00064     TCPSocketConnection client;
00065     server.accept(client);
00066     client.set_blocking(false, 1500); // Timeout after (1.5)s
00067 
00068     conectado = true;
00069     printf("\nConnection from: %s\n", client.get_address());
00070     char buffer[256];
00071     while (true) {
00072         int n = client.receive(buffer, sizeof(buffer));
00073 
00074         if (n <=1) {
00075             //printf("Waiting messenger...");
00076             //break;
00077         } else {
00078 
00079             // print received message to terminal
00080             buffer[n] = '\0';
00081             printf("Received message from Client :'%s'\n",buffer);
00082 
00083             int pos =  buffer[8] - '0';
00084 
00085             if(pos == 1)setpoint = 20;
00086             else if(pos == 2)setpoint = 35;
00087             else if(pos == 3)setpoint = 50;
00088             printf("Setpoint: %d\n", setpoint);
00089 
00090             m_ref.lock();
00091             // ref = atof(buffer);
00092             sprintf (buffer, "%s", client.get_address());
00093             m_ref.unlock();
00094 
00095             m_ref.lock();
00096             sprintf (buffer, "%s", client.get_address());
00097             m_ref.unlock();
00098 
00099             // print sending message to terminal
00100             printf("Sending message to Client: '%s'\n",buffer);
00101 
00102             // Echo received message back to client
00103             //client.send_all(buffer, n);
00104             // if (n <= 0) break;
00105             memset(buffer,0,256);
00106             
00107             if(buffer[0] == 'd') {
00108                 for(int pos = 1000; pos < 2000; pos +=25) {
00109                     Servo1.SetPosition(pos);
00110                 }
00111             } else if(buffer[0] == 'e') {
00112                 for(int pos = 2000; pos > 1000; pos -=25) {
00113                     Servo1.SetPosition(pos);
00114                 }
00115             }
00116 
00117         }
00118     }
00119 
00120     client.close();
00121 }
00122 
00123 void udp_broadcast ()
00124 {
00125     UDPSocket sock;
00126     sock.init();
00127     sock.set_broadcasting();
00128 
00129     Endpoint broadcast;
00130     broadcast.set_address("255.255.255.255", BROADCAST_PORT);
00131 
00132     char out_buffer[] = "Coppeti";
00133 
00134     while (!conectado) {
00135         printf("Broadcasting...\n");
00136         sock.sendTo(broadcast, out_buffer, sizeof(out_buffer));
00137         Thread::wait(1000);
00138     }
00139     printf("Broadcast finalizado!\n");
00140 }