Olja Jakovljevic
Student project, Faculty of Electrical Engineering, University of Belgrade
Dependencies: SSD1308_128x64_I2C Adafruit_GFX 19E042PIM_MB_PINS
Diff: main.cpp
- Revision:
- 2:4c2c7c8d608b
- Parent:
- 1:c994530bdb3d
--- a/main.cpp Sat Nov 27 20:33:49 2021 +0000
+++ b/main.cpp Wed Jul 13 15:07:00 2022 +0000
@@ -1,58 +1,103 @@
/*
- * Program implements MQTT client on a NUCLEO-L476RG board
- * using arm mbed-mqtt library and ESP-WROOM-02 WiFi modem.
- *
- * University of Belgrade - School of Electrical Engineering
- * Department of Electronics
- * Bulevar Kralja Aleksandra 73, 11120 Belgrade, Serbia
- *
- * November 2021.
- *
- */
+
+This code implements MQTT broker for Smart Industry system.
+The system sorts plastic caps based on their color (red, green or blue).
+Proximity sensors detect the presence of the cup, color sensor determines the color and
+servo motors drive the sorting mechanism.
+
+Faculty of Electrical Engineering, University of Belgrade.
+Version (1), July 2022.
+
+*/
+
+// Include the libraries
#include "mbed.h"
#include "mb_pins.h"
#include "platform/mbed_thread.h"
#include "MQTTClientMbedOs.h"
-
+#include "SSD1308.h"
+#include "Adafruit_GFX.h"
+#include "Adafruit_GFX_Config.h"
+#include "Adafruit_SSD1306.h"
-// LED2 blinking rate:
-#define BLINKING_RATE_MS 250
-// Scaler to 3v3L
-#define VOLTAGE_SCALER 3.3f
-// Client yield timeout in miliseconds:
+// I2C bus pins
+#define D_SDA PB_14
+#define D_SCL PB_13
+
+// I2C address, 60d or 0x3c
+#define I2C_REAL_ADD 0x3c
+#define I2C_ADDRESS I2C_REAL_ADD << 1
+#define I2C_FREQUENCY 400000
+
+// Client yield timeout in miliseconds
#define YIELD_TIMEOUT_MS 1000
-// Maximum number of networks to scan for:
-#define MAX_NETWORKS 15
-// Small delay for network information printing:
+
+// Maximum number of networks to scan for
+#define MAX_NETWORKS 10
+
+// Small delay for network information printing
#define PRINTF_DELAY_MS 10
+// Set OLED width and heigth [pixel]
+#define OLED_WIDTH_PX 128
+#define OLED_HEIGHT_PX 64
-// Left potentiometer:
-AnalogIn pot1(MB_POT1);
-// Left button on the motherboard:
-InterruptIn sw1(MB_SW1);
-// Right LED on the motherboard:
-DigitalOut led2(MB_LED2);
-// Pointer to a WiFi network object:
+// Initialize I2C for OLED display
+I2C i2c(D_SDA, D_SCL);
+
+// Initialize OLED
+Adafruit_SSD1306_I2c myOled(i2c,PB_5,I2C_ADDRESS,OLED_HEIGHT_PX,OLED_WIDTH_PX);
+
+// Variables that count the number of caps for every color
+int red;
+int green;
+int blue;
+
+// Variables used in broker decision algorithm
+int flagColor = 0;
+int flagProx1 = 0;
+int flagProx2 = 0;
+int flagStage1 = 1;
+int flagStage2 = 1;
+int notAvailable = 0;
+int poximityTreshold1 = 300;
+int poximityTreshold2 = 280;
+int currentColor = 0;
+
+// Define start button
+DigitalIn buttonStart(MB_SW1);
+int flagStart = 0;
+
+// Pointer to a WiFi network object
WiFiInterface *wifi;
-// Creating TCP socket:
+
+// Creating TCP socket
TCPSocket socket;
-// Creating MQTT client using the TCP socket;
+
+// Creating MQTT client using the TCP socket
MQTTClient client(&socket);
-// Message handler:
+
+// Message handler
MQTT::Message message;
-char* topic = "mbed-sample-pub";
-char* topic_sub = "mbed-sample-sub";
-// Counter of arrived messages:
+// MQTT topics
+char* topic_pub_servo1 = "PMK_industry/micro/servo1";
+char* topic_pub_servo2 = "PMK_industry/micro/servo2";
+char* topic_sub_color = "PMK_industry/micro/color";
+char* topic_sub_proximity1 = "PMK_industry/micro/proximity1";
+char* topic_sub_proximity2 = "PMK_industry/micro/proximity2";
+
+char* receavedMessage;
+
+// Counter of arrived messages
int arrivedcount = 0;
-// Flag indicating that button is not pressed:
-int button_pressed=0;
-// HiveMQ broker connectivity information:
+
+// HiveMQ broker connectivity information
const char* hostname = "broker.hivemq.com";
int port = 1883;
-// Returning a string for a provided network encryption:
+
+// Returning a string for a provided network encryption
const char *sec2str(nsapi_security_t sec)
{
switch (sec)
@@ -73,12 +118,14 @@
}
}
+// Scan available WiFi networks
int scan_networks(WiFiInterface *wifi)
{
printf("Scan:\n");
- // Scan only for the number of networks, first parameter is NULL:
+ // Scan only for the number of networks, first parameter is NULL
int count = wifi->scan(NULL, 0);
+
// If there are no networks, count == 0, if there is an error, counter < 0:
if (count <= 0)
{
@@ -86,22 +133,23 @@
return 0;
}
- // Limit number of network arbitrary to some reasonable number:
+ // Limit number of network arbitrary to some reasonable number
count = count < MAX_NETWORKS ? count : MAX_NETWORKS;
- // Create a local pointer to an object, which is an array of WiFi APs:
+ // Create a local pointer to an object, which is an array of WiFi APs
WiFiAccessPoint *ap = new WiFiAccessPoint[count];
- // Now scan again for 'count' networks and populate the array of APs:
+
+ // Now scan again for 'count' networks and populate the array of APs
count = wifi->scan(ap, count);
- // This time, the number of entries to 'ap' is returned:
+ // This time, the number of entries to 'ap' is returned
if (count <= 0)
{
printf("scan() failed with return value: %d\n", count);
return 0;
}
- // Print out the parameters of each AP:
+ // Print out the parameters of each AP
for (int i = 0; i < count; i++)
{
printf("Network: %s secured: %s BSSID: %hhX:%hhX:%hhX:%hhx:%hhx:%hhx RSSI: %hhd Ch: %hhd\n", ap[i].get_ssid(),
@@ -117,25 +165,45 @@
return count;
}
-void messageArrived(MQTT::MessageData& md)
+// MQTT message handlers for certain topics
+void messageArrivedColor(MQTT::MessageData& md)
+{
+ MQTT::Message &message = md.message;
+ receavedMessage = (char*)message.payload;
+
+ if (strcmp(receavedMessage,"Red") == 0 ){ flagColor = 1; }
+ else if (strcmp(receavedMessage,"Green") == 0 ) { flagColor = 2; }
+ else if (strcmp(receavedMessage, "Blue") == 0 ) { flagColor = 3; }
+ printf("Color: %.*s\r\n", message.payloadlen, (char*)message.payload);
+
+}
+
+void messageArrivedProximity1(MQTT::MessageData& md)
{
MQTT::Message &message = md.message;
- //printf("Message arrived: qos %d, retained %d, dup %d, packetid %d\r\n", message.qos, message.retained, message.dup, message.id);
- printf("Message from the browser: %.*s\r\n", message.payloadlen, (char*)message.payload);
- ++arrivedcount;
+ int receavedMessage = atoi((char*)message.payload);
+
+ if (receavedMessage > poximityTreshold1){ flagProx1 = 1;}
+ else { flagProx1 = 0;}
+ printf("Prox1 = %d\t", receavedMessage);
+ printf("flag = %d\r\n", flagProx1);
+
}
-void buttonFunction() {
+void messageArrivedProximity2(MQTT::MessageData& md)
+{
+ MQTT::Message &message = md.message;
+ int receavedMessage = atoi((char*)message.payload);
- button_pressed=1;
-
+ if (receavedMessage > poximityTreshold2){ flagProx2 = 1;}
+ else { flagProx2 = 0;}
+ printf("Prox2 = %d\t", receavedMessage);
+ printf("flag = %d\r\n", flagProx2);
+
}
int main()
{
- // Set the interrupt event:
- sw1.fall(&buttonFunction);
-
// Create a default network interface:
wifi = WiFiInterface::get_default_instance();
if (!wifi) {
@@ -168,39 +236,192 @@
// Open TCP socket using WiFi network interface:
socket.open(wifi);
+
// Connect to the HiveMQ broker:
socket.connect(hostname, port);
+
// Fill connect data with default values:
MQTTPacket_connectData data = MQTTPacket_connectData_initializer;
+
// Change only ID and protocol version:
data.MQTTVersion = 3;
- data.clientID.cstring = "NUCLEO-L476RG-60";
+ data.clientID.cstring = "Broker";
- // Connect the
+ // Connect to the mqtt broker
int rc = 0;
if ((rc = client.connect(data)) != 0)
printf("rc from MQTT connect is %d\r\n", rc);
- if ((rc = client.subscribe(topic_sub, MQTT::QOS2, messageArrived)) != 0)
+ // Subscribe to topics
+ if ((rc = client.subscribe(topic_sub_color, MQTT::QOS2, messageArrivedColor)) != 0)
+ printf("rc from MQTT subscribe is %d\r\n", rc);
+
+ if ((rc = client.subscribe(topic_sub_proximity1, MQTT::QOS2, messageArrivedProximity1)) != 0)
+ printf("rc from MQTT subscribe is %d\r\n", rc);
+
+ if ((rc = client.subscribe(topic_sub_proximity2, MQTT::QOS2, messageArrivedProximity2)) != 0)
printf("rc from MQTT subscribe is %d\r\n", rc);
-
+
+ red = 0;
+ green = 0;
+ blue = 0;
+
+ char bufRed[15];
+ char bufGreen[15];
+ char bufBlue[15];
+
+ myOled.begin();
+ myOled.setTextSize(2);
+ myOled.setTextColor(WHITE);
+ myOled.setTextCursor(25,0);
+ myOled.printf("Press");
+ myOled.setTextCursor(25,25);
+ myOled.printf("START");
+ myOled.display();
+
while (true) {
- // Show that the loop is running by switching motherboard LED2:
- led2 = !led2;
- thread_sleep_for(BLINKING_RATE_MS);
- if (button_pressed==1) {
- button_pressed=0;
- // QoS 0
- char buf[100];
- sprintf(buf, "V(POT1) = %1.2f\r\n", pot1*VOLTAGE_SCALER);
- message.qos = MQTT::QOS0;
- message.retained = false;
- message.dup = false;
- message.payload = (void*)buf;
- message.payloadlen = strlen(buf)+1;
- client.publish(topic, message);
+
+ if (!flagStart){
+ flagStart = !buttonStart;
+ thread_sleep_for(50);
+
}
- // Need to call yield API to maintain connection:
- client.yield(YIELD_TIMEOUT_MS);
+
+ if (flagStart) {
+
+ sprintf(bufRed, "%s %d", "Red:", red);
+ sprintf(bufGreen, "%s %d", "Green:", green);
+ sprintf(bufBlue, "%s %d", "Blue:", blue);
+
+ myOled.clearDisplay();
+ myOled.setTextSize(2);
+ myOled.setTextColor(WHITE);
+ myOled.setTextCursor(0,0);
+ myOled.printf(bufRed);
+ myOled.setTextCursor(0,25);
+ myOled.printf(bufGreen);
+ myOled.setTextCursor(0,50);
+ myOled.printf(bufBlue);
+ myOled.display();
+
+ // If a cap is detected at the first stage, send a command
+ // for servo1 based on the color of the cap
+ if(flagStage1 && flagProx1)
+ {
+
+ if (flagColor == 1)
+ {
+ char buf[100];
+ sprintf(buf, "right");
+ message.qos = MQTT::QOS0;
+ message.retained = false;
+ message.dup = false;
+ message.payload = (void*)buf;
+ message.payloadlen = strlen(buf)+1;
+ client.publish(topic_pub_servo1, message);
+ flagStage1 = 0;
+ red++;
+
+ }
+
+ else if (flagColor == 2)
+ {
+ char buf[100];
+ sprintf(buf, "left");
+ message.qos = MQTT::QOS0;
+ message.retained = false;
+ message.dup = false;
+ message.payload = (void*)buf;
+ message.payloadlen = strlen(buf)+1;
+ client.publish(topic_pub_servo1, message);
+ flagStage1 = 0;
+ green++;
+
+ }
+
+ else if (flagColor == 3)
+ {
+ char buf[100];
+ sprintf(buf, "left");
+ message.qos = MQTT::QOS0;
+ message.retained = false;
+ message.dup = false;
+ message.payload = (void*)buf;
+ message.payloadlen = strlen(buf)+1;
+ client.publish(topic_pub_servo1, message);
+ flagStage1 = 0;
+ blue++;
+
+ }
+
+ currentColor = flagColor;
+ }
+
+ else if(!flagStage1 && !flagProx1)
+ {
+ char buf[100];
+ sprintf(buf, "zero");
+ message.qos = MQTT::QOS0;
+ message.retained = false;
+ message.dup = false;
+ message.payload = (void*)buf;
+ message.payloadlen = strlen(buf)+1;
+ client.publish(topic_pub_servo1, message);
+ flagStage1 = 1;
+
+ }
+
+ // If a cap is detected at the second stage, send a command
+ // for servo2 based on the color of the cap
+ if(flagStage2 && flagProx2)
+ {
+
+ if (currentColor == 2)
+ {
+ char buf[100];
+ sprintf(buf, "right");
+ message.qos = MQTT::QOS0;
+ message.retained = false;
+ message.dup = false;
+ message.payload = (void*)buf;
+ message.payloadlen = strlen(buf)+1;
+ client.publish(topic_pub_servo2, message);
+ flagStage2 = 0;
+
+ }
+
+ else if (currentColor == 3)
+ {
+ char buf[100];
+ sprintf(buf, "left");
+ message.qos = MQTT::QOS0;
+ message.retained = false;
+ message.dup = false;
+ message.payload = (void*)buf;
+ message.payloadlen = strlen(buf)+1;
+ client.publish(topic_pub_servo2, message);
+ flagStage2 = 0;
+
+ }
+
+ }
+
+ else if(!flagStage2 && !flagProx2)
+ {
+ char buf[100];
+ sprintf(buf, "zero");
+ message.qos = MQTT::QOS0;
+ message.retained = false;
+ message.dup = false;
+ message.payload = (void*)buf;
+ message.payloadlen = strlen(buf)+1;
+ client.publish(topic_pub_servo2, message);
+ flagStage2 = 1;
+ currentColor = 0;
+
+ }
+
+ client.yield(YIELD_TIMEOUT_MS); // Need to call yield API to maintain connection
+ }
}
}
\ No newline at end of file