peter brier
Laser cutter software
Dependencies: EthernetNetIf mbed SDFileSystem
Revision 0:18ead85c200b, committed 2011-08-11
- Comitter:
- pbrier
- Date:
- Thu Aug 11 09:33:15 2011 +0000
- Commit message:
- Laos server
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ConfigFile/ConfigFile.cpp Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,130 @@
+/*
+ * ConfigFile.cpp
+ * Simple Config file reader class
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#include "ConfigFile.h"
+
+// Make new config file object
+ConfigFile::ConfigFile(char *file)
+{
+ // printf("ConfigFile(%s)\n\r", file);
+ fp = fopen(file,"rb");
+}
+
+// Destroy a config file (closes the file handle)
+ConfigFile::~ConfigFile()
+{
+ // printf("~ConfigFile()\n\r");
+ if ( fp != NULL )
+ fclose(fp);
+}
+
+// Read value
+bool ConfigFile::Value(char *key, char *value, size_t maxlen, char *def)
+{
+ int m=0,n=0,c,s=0;
+ if (fp == NULL)
+ {
+ strncpy(value, def, maxlen);
+ return false;
+ }
+ // printf("Value()\n\r");
+ n = strlen(key);
+ fseek(fp, 0L, SEEK_SET);
+ while( s != 99 )
+ {
+ c = fgetc(fp);
+ if ( c == EOF )
+ break;
+ // printf("%d: '%c'\n\r", s, c);
+ switch( s )// sate machine
+ {
+ case 0: // (re) start: note: no break; fall through to case 1
+ m=0;
+ s=1;
+ case 1: // read key, skip spaces
+ if ( c == key[m] )
+ m++;
+ else
+ s = 0;
+ if ( c == ';' )
+ s = 10;
+ else if ( c == ' ' || c == '\t' || c == '\n' || c == '\r')
+ {
+ if ( n == m ) // key found
+ {
+ s = 2;
+ m = 0;
+ }
+ else
+ s = 0;
+ }
+ break;
+ case 2: // key matched, skip whitepaces upto the first char
+ if ( c == ';' ) s = 99;
+ else if ( c != ' ' && c != '\t' )
+ {
+ s = 3;
+ m = 1;
+ if ( m < maxlen)
+ *value++ = c;
+ }
+ break;
+
+ case 3: // copy value content, upto eol or comment
+ if ( m == maxlen || c == '\n' || c == '\r' || c == ';' )
+ s = 99;
+ else
+ {
+ m++;
+ *value++ = c;
+ }
+ break;
+ case 10: // skip comments, upto eol or eof
+ if ( c == '\n' || c == '\r' ) s = 0;
+ break;
+ }
+ }
+ if ( s == 99 && m > 1) // key found, and value assigned
+ {
+ *value = 0; // terminate string
+ return true;
+ }
+ else
+ {
+ strncpy(value, def, maxlen);
+ return false;
+ }
+}
+
+// Read int value
+bool ConfigFile::Value(char *key, int *value, int def)
+{
+ char val[16];
+ bool b = Value(key, val, 12, "");
+ if ( b )
+ *value = atoi(val);
+ else
+ {
+ *value = def;
+ }
+ return b;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ConfigFile/ConfigFile.h Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,109 @@
+/**
+ * ConfigFile.cpp
+ * Simple Config file reader class
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Reads a setting, based on the key. (case sensitive)
+ * If the key is not found, the default value is returned.
+ *
+ * Simple, not (time) efficient. For every request, the complete file is reset and read again
+ *
+ @code
+ file format
+
+ ; comment
+ key value [newline || comment]
+
+ For example:
+
+ ; This is a test config file
+ ip 192.168.1.1
+ port 1234 ; the key is "port" the value is "1234". The rest is comment
+ ; EOF
+ @endcode
+ */
+#ifndef _CONFIG_FILE_H_
+#define _CONFIG_FILE_H_
+
+#include "global.h"
+
+ /** Simple config file object
+ * Only supports reading config files. Tries to limit memory usage.
+ * Note: the file handle is kept open during the lifetime of this object.
+ * To close the file: destroy this ConfigFile object! A simple way is to enclose the creation
+ * of this object inside a code block
+ * Example:
+ * @code
+ * char ip[16];
+ * int port;
+ * {
+ * ConfigFile cfg("/local/config.txt");
+ * cfg.Value("ip", ip, sizeof(ip), "192.168.1.10");
+ * cfg.Value("port", &port, 80);
+ * }
+ * @endcode
+ */
+class ConfigFile {
+public:
+ /** Make new ConfigFile object. Open config file.
+ * Note: the file handle is kept open during the lifetime of this object.
+ * To close the file: destroy this ConfigFile object!
+ * @param file Filename of the configuration file.
+ */
+ ConfigFile(char *name);
+
+ ~ConfigFile();
+
+/** Read value. If file is not open, or key does not exist: copy default value (return false)
+ * @param key name of the key in the file
+ * @param value pointer to buffer that receives the value
+ * @param maxlen the maximum length of the value. If the actual value is longer, it is truncated
+ * @param def Default value. If the key is not found in the file, this value is copied.
+ * @return "true" if the key is found "false" is key is not found (default value is returned)
+ */
+ bool Value(char *key, char *value, size_t maxlen, char *def);
+
+/** Read Integer value. If file is not open, or key does not exist: copy default value (return false)
+ * @param key name of the key in the file
+ * @param value pointer to integer that receives the value
+ * @param def Default value. If the key is not found in the file, this value is copied.
+ * @return "true" if the key is found "false" is key is not found (default value is returned)
+ */
+ bool Value(char *key, int *value, int def);
+
+ /** See if file was present
+ * @return "true" if file is open, "false" file is not found
+ */
+ bool IsOpen(void) { return fp != NULL; }
+
+private:
+ FILE *fp;
+
+};
+
+#define K_UP '8'
+#define K_DOWN '2'
+#define K_LEFT '4'
+#define K_RIGHT '6'
+#define K_OK '5'
+#define K_CANCEL '0'
+#define K_FUP '9'
+#define K_FDOWN '3'
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EthernetNetIf.lib Thu Aug 11 09:33:15 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/donatien/code/EthernetNetIf/#bc7df6da7589
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FATFileSystem.lib Thu Aug 11 09:33:15 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_unsupported/code/fatfilesystem/ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LaosDisplay/LaosDisplay.cpp Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,149 @@
+/**
+ * LaosDisplay.cpp
+ * User interface class, for 2x16 display and keypad
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Assume (USB) serial connected display (or terminal) in future, this could be CAN or I2C connected
+ *
+ */
+#include "LaosDisplay.h"
+
+
+// I2C
+I2C i2c(p9, p10); // sda, scl
+#define _I2C_ADDRESS 0x04
+#define _I2C_HOME 0xFE
+#define _I2C_CLS 0xFF
+#define _I2C_BAUD 10000
+
+
+// Make new config file object
+LaosDisplay::LaosDisplay()
+{
+ serial = new Serial(USBTX, USBRX);
+ serial->baud(115200);
+}
+
+
+//Write char
+ void LaosDisplay::write(char c)
+{
+ serial->putc(c);
+}
+
+// Write string
+void LaosDisplay::write(char *s)
+{
+ if ( s == NULL ) return;
+ i2c.write(_I2C_ADDRESS, s, strlen(s));
+ while (*s)
+ serial->putc(*s++);
+}
+
+// Clear screen
+void LaosDisplay::cls()
+{
+ write('\t');
+}
+
+
+// Read Key
+int LaosDisplay::read()
+{
+ char key;
+ int result;
+ result = i2c.read(_I2C_ADDRESS,&key, 1);
+ if ( result ) return key;
+ if ( serial->readable() )
+ return serial->getc();
+ else
+ return 0;
+}
+
+
+
+/**
+*** Screens are defined with:
+*** name, line[2], int* i[4], char *s;
+***
+*** in the lines, the following replacements are made:
+*** $$$$$$ : "$" chars are replaced with the string argument for this screen (left alligned), if argument is NULL, spaces are inserted
+*** +9876543210: "+" and numbers are replaced with decimal digits from the integer arguments (the "+" sign is replaced with '-' if the argument is negative
+***
+***
+**/
+inline char digit(int i, int n)
+{
+ int d=1;
+ char c;
+ if ( i<0 ) i *= -1;
+ while(n--) d *= 10;
+ c = '0' + ((i/d) % 10);
+ return c;
+}
+void LaosDisplay::ShowScreen(const char *l, int *arg, char *s)
+{
+ char c, next=0,surpress=1;
+ cls();
+ while ( (c=*l) )
+ {
+ switch ( c )
+ {
+ case '$':
+ if (s != NULL && *s)
+ c = *s++;
+ else
+ c = ' ';
+ break;
+
+ case '+':
+ if (arg != NULL && *arg < 0)
+ c = '-';
+ else
+ c = '+';
+ break;
+
+ case '0': next=1; surpress=0;
+ case '1': case '2': case '3': case '4':
+ case '5': case '6': case '7': case '8': case '9':
+ char d = ' ';
+ if (arg != NULL )
+ {
+ d = digit(*arg, *l-'0');
+ if ( d == '0' && surpress ) // supress leading zeros
+ d = ' ';
+ else
+ surpress = 0;
+ if ( next && arg != NULL ) // take next numeric argument
+ {
+ arg++;
+ next=0;
+ surpress=1;
+ }
+ }
+ c = d;
+ break;
+ }
+ write(c);
+ l++;
+ }
+}
+
+
+// EOF
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LaosDisplay/LaosDisplay.h Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,74 @@
+/**
+ * LaosDisplay.cpp
+ * User interface class, for 2x16 display and keypad
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Assume (USB) serial connected display (or terminal) in future, this could be CAN or I2C connected
+ *
+ */
+#ifndef _LAOS_DISPLAY_H_
+#define _LAOS_DISPLAY_H_
+#include "global.h"
+
+ /** LaosDisplay
+ * Connect to LCD terminal or PC
+ * Example:
+ * @code
+ * @endcode
+ */
+class LaosDisplay {
+public:
+ /** Make new LaosDisplay object.
+ */
+ LaosDisplay();
+
+/** Display string at position (x,y)
+ * @param x x position in characters (zero based)
+ * @param y y position in characters (zero based)
+ * @param s The string to display
+ */
+ void write(char *s);
+ void write(char c);
+ void ShowScreen(const char *l, int *arg, char *s);
+
+
+/** Clear screen
+ */
+ void cls();
+
+/** Read key value. (non blocking)
+ * @return (ASCII) character value, zero if no character is available
+ */
+ int read();
+
+private:
+ Serial *serial;
+};
+
+#define K_UP '8'
+#define K_DOWN '2'
+#define K_LEFT '4'
+#define K_RIGHT '6'
+#define K_FUP '9'
+#define K_FDOWN '3'
+#define K_OK '5'
+#define K_CANCEL '0'
+#define K_ORIGIN '1'
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LaosFile/SDFileSystem.lib Thu Aug 11 09:33:15 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/SDFileSystem/#b1ddfc9a9b25
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LaosIO/LaosIO.cpp Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,50 @@
+/**
+ * LaosIO.cpp
+ * input / output system
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * set and get inputs/outputs for the peripherals
+ *
+ @code
+ --code--
+ @endcode
+ */
+
+#include "LaosIO.h"
+
+LaosIO::LaosIO()
+{
+ state = 0;
+}
+
+LaosIO::~LaosIO()
+{
+}
+
+
+void LaosIO::set(int line, bool state)
+{
+}
+
+bool LaosIO::get(int line)
+{
+ return false;
+}
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LaosIO/LaosIO.h Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,51 @@
+/**
+ * LaosIO.h
+ * input / output system
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * set and get inputs/outputs for the peripherals
+ *
+ @code
+ --code--
+
+ @endcode
+ */
+#ifndef _LAOSIO_H_
+#define _LAOSIO_H_
+#include "global.h"
+
+ /** IO System
+ * Get and Set IO lines
+ */
+class LaosIO {
+public:
+ /** Make new LaosIO object.
+ */
+ LaosIO();
+
+ ~LaosIO();
+
+ void set(int line, bool state);
+ bool get(int line);
+
+private:
+ unsigned int state;
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LaosMenu/LaosMenu.cpp Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,290 @@
+/*
+ * LaosMenu.cpp
+ * Menu structure and user interface. Uses LaosDisplay
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#include "LaosMenu.h"
+
+//extern int x0,y0,z0;
+
+static const char *menus[] = {
+ "MAIN", //0
+ "MOVE", //1
+ "FOCUS", //2
+ "HOME", //3
+ "ORIGIN", //4
+ "START JOB", //5
+ "DELETE JOB", //6
+ "IP", //7
+ "POWER / SPEED",//8
+ "IO", //9
+};
+
+static const char *screens[] = {
+ //0: main, navigate to MOVE, FOCUS, HOME, ORIGIN, START JOB, IP, DELETE JOB, POWER
+#define MAIN (0)
+ "$$$$$$$$$$$$$$$$" "\n"
+ "<--- 0 ---> [ok]",
+
+#define MOVE (MAIN+1)
+ "X: +6543210 MOVE" "\n"
+ "Y: +6543210 [ok]",
+
+#define FOCUS (MOVE+1)
+ "Z: +543210 FOCUS" "\n"
+ " [ok]",
+
+#define HOME (FOCUS+1)
+ " HOME? " "\n"
+ "[cancel] [ok]",
+
+#define ORIGIN (HOME+1)
+ " SET ORIGIN? " "\n"
+ "[cancel] [ok]",
+
+#define RUN (ORIGIN+1)
+ "RUN: $$$$$$$$$$$" "\n"
+ "[cancel]<10><ok>",
+
+#define DELETE (RUN+1)
+ "DEL: $$$$$$$$$$$" "\n"
+ "[cancel]<10>[ok]",
+
+#define IP (DELETE+1)
+ "210.210.210.210 " "\n"
+ "$$$$$$$$<0> [ok]",
+
+#define POWER (IP+1)
+ "$$$$$$$: 6543210" "\n"
+ "[cancel] <0>[ok]",
+
+#define IO (POWER+1)
+ "$$$$$$$$$$$=0 IO" "\n"
+ "[cancel] [ok]",
+
+// Intermediate screens
+#define DELETE_OK (POWER+1)
+ " DELETE 10? " "\n"
+ "<cancel> [ok]",
+
+#define HOMING (DELETE_OK+1)
+ "HOMING...6543210" "\n"
+ "[cancel] ",
+
+#define BUSY (HOMING+1)
+ "BUSY: $$$$$$$$$$" "\n"
+ "[cancel] [ok]",
+
+#define PAUSE (BUSY+1)
+ "PAUSE: $$$$$$$$$" "\n"
+ "[cancel] [ok]",
+
+};
+
+static const char *ipfields[] = { "IP", "NETMASK", "GATEWAY", "DNS" };
+static const char *powerfields[] = { "Pmin %", "Pmax %", "Voff", "Von" };
+static const char *iofields[] = { "o1:PURGE", "o2:EXHAUST", "o3:PUMP", "i1:COVER", "i2:PUMPOK", "i3:LASEROK", "i4:PURGEOK" };
+
+
+/**
+*** Make new menu object
+**/
+// LaosMenu::LaosMenu(const LaosDisplay &display) : dsp(display)
+LaosMenu::LaosMenu()
+{
+ waitup=timeout=0;
+ sarg = NULL;
+ x=y=z=0;
+ screen=prevscreen=menu=speed=0;
+ dsp.cls();
+}
+
+
+
+/**
+*** Destroy menu object
+**/
+LaosMenu::~LaosMenu()
+{
+
+}
+
+
+
+/**
+*** Handle menu system
+*** Read keys, an plan next action on the screen, output screen if something changed
+**/
+void LaosMenu::Handle()
+{
+ static int count=0;
+ int c = dsp.read();
+ if ( count++ > 10) count = 0;
+ if ( c )
+ timeout = 10;
+ else
+ if ( timeout ) timeout--;
+ if ( screen != prevscreen )
+ waitup = 1;
+ if ( waitup && timeout) // if we have to wait for key-up, cancel the keypress
+ c = 0;
+ if ( waitup && !timeout )
+ waitup=0;
+ if ( !timeout ) // increase speed if we keep button pressed longer
+ speed = 1;
+ else
+ {
+ speed += 1;
+ if ( speed >= 500 ) speed = 100;
+ }
+
+ if ( c || screen != prevscreen || count >9 )
+ {
+
+ switch(c) // screen independent handling
+ {
+ case K_FUP: screen=FOCUS; break;
+ case K_FDOWN: screen=FOCUS; break;
+ case K_ORIGIN: screen=ORIGIN; break;
+ }
+
+ prevscreen = screen;
+
+ switch ( screen )
+ {
+ case MAIN:
+ switch ( c )
+ {
+ case K_RIGHT: menu+=1; waitup=1; break;
+ case K_LEFT: menu-=1; waitup=1; break;
+ case K_UP: screen=MOVE; break;
+ case K_DOWN: screen=MOVE; break;
+ case K_OK: screen=menu; break;
+ case K_CANCEL: menu=MAIN; break;
+ }
+ menu = menu % (sizeof(menus) / sizeof(menus[0]));
+ sarg = (char*)menus[menu];
+ args[0] = menu;
+ break;
+
+ case MOVE: // pos xy
+ switch ( c )
+ {
+ case K_UP: y+=speed; break;
+ case K_DOWN: y-=speed; break;
+ case K_LEFT: x-=speed; break;
+ case K_RIGHT: x+=speed; break;
+ case K_OK: case K_CANCEL: screen=MAIN; waitup=1; break;
+ }
+ args[0]=x; args[1]=y;
+ break;
+
+ case FOCUS: // focus
+ switch ( c )
+ {
+ case K_FUP: case K_UP: z+=speed; break;
+ case K_FDOWN: case K_DOWN: z-=speed; break;
+ case K_LEFT: screen=MAIN; menu -= 1; break;
+ case K_RIGHT: screen=MAIN; menu += 1; break;
+ case 0: break;
+ default: screen=MOVE; break;
+ }
+ args[0]=z;
+ break;
+
+ case HOME:// home
+ switch ( c )
+ {
+ case K_OK: x=0; y=0; screen=HOMING; break;
+ case K_CANCEL: screen=MOVE; waitup=1; break;
+ }
+ break;
+
+ case ORIGIN: // origin
+ switch ( c )
+ {
+ case K_OK: x=0; y=0; screen=MOVE; break;
+ case K_CANCEL: screen=MOVE; break;
+ }
+ break;
+
+ case IP: // IP
+ switch ( c )
+ {
+ case K_RIGHT: ipfield++; waitup=1; break;
+ case K_LEFT: ipfield--; waitup=1; break;
+ case K_OK: screen=MAIN; break;
+ case K_CANCEL: screen=MAIN; break;
+ }
+ ipfield %= 4;
+ sarg = (char*)ipfields[ipfield];
+ args[4] = ipfield;
+ switch(ipfield)
+ {
+ case 0: memcpy(args, ipInfo.ip, 4*sizeof(int) ); break;
+ default: memset(args,0,4*sizeof(int)); break;
+ }
+ break;
+
+ case IO: // IO
+ switch ( c )
+ {
+ case K_RIGHT: iofield++; waitup=1; break;
+ case K_LEFT: iofield--; waitup=1; break;
+ case K_OK: screen=MAIN; break;
+ case K_CANCEL: screen=MAIN; break;
+ }
+ iofield %= sizeof(iofields)/sizeof(char*);
+ sarg = (char*)iofields[iofield];
+ args[0] = ipfield;
+ args[1] = ipfield;
+ break;
+
+ case POWER: // POWER
+ switch ( c )
+ {
+ case K_RIGHT: powerfield++; waitup=1; break;
+ case K_LEFT: powerfield--; waitup=1; break;
+ case K_UP: power[powerfield % 4] += speed; break;
+ case K_DOWN: power[powerfield % 4] -= speed; break;
+ case K_OK: screen=MAIN; break;
+ case K_CANCEL: screen=MAIN; break;
+ }
+ powerfield %= 4;
+ args[1] = powerfield;
+ sarg = (char*)powerfields[powerfield];
+ args[0] = power[powerfield];
+ break;
+
+
+ case HOMING: // Homing screen
+ switch ( c )
+ {
+ case K_CANCEL: screen=MAIN; break;
+ }
+ args[0]++;
+ break;
+
+ default: screen = MAIN; break;
+ }
+ dsp.ShowScreen(screens[screen], args, sarg);
+ }
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LaosMenu/LaosMenu.h Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,75 @@
+/**
+ * LaosMenu.h
+ * Simple menu system
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ @code
+ --code--
+ @endcode
+ */
+#ifndef _LAOSMENU_H_
+#define _LAOSMENU_H_
+
+#include "global.h"
+#include "LaosDisplay.h"
+
+
+ /** Menu system
+ * Create server based on config file.
+ *
+ * Example:
+ * @code
+ * LaosMenu menu();
+ * menu.Handle();
+ * @endcode
+ */
+class LaosMenu {
+public:
+ /** Make new LaosMenu object.
+ */
+ // LaosMenu(const LaosDisplay& disp);
+ LaosMenu();
+ ~LaosMenu();
+
+/** Handle the menu system
+ * Reads inputs, displays screen
+ */
+ void Handle();
+
+ int x,y,z;
+
+private:
+ // LaosDisplay *display;
+ int args[5];
+ unsigned char waitup, timeout;
+ char *sarg;
+ int speed;
+
+ // menu states
+ unsigned char screen, prevscreen, menu;
+ unsigned char ipfield, iofield;
+ unsigned char powerfield, power[4];
+ LaosDisplay dsp;
+
+};
+
+
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LaosMotion/LaosMotion.cpp Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,285 @@
+/**
+ * LaosMotion.cpp
+ * Motion Controll functions for Laos system
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ *
+ */
+#include "LaosMotion.h"
+
+
+// status leds
+extern DigitalOut led1,led2,led3,led4;
+
+// Inputs;
+DigitalIn xhome(p8);
+DigitalIn yhome(p17);
+DigitalIn zmin(p15);
+DigitalIn zmax(p16);
+
+// motors
+DigitalOut enable(p7);
+DigitalOut xdir(p23);
+DigitalOut xstep(p24);
+DigitalOut ydir(p25);
+DigitalOut ystep(p26);
+DigitalOut zdir(p27);
+DigitalOut zstep(p28);
+
+// laser
+
+// DigitalOut laser(p22); // O1: PWM (Yellow)
+PwmOut pwm(p22);
+DigitalOut laser_enable(p21); // O2: enable laser
+DigitalOut o3(p6); // 03: NC
+DigitalOut laser(p5); // O4: LaserON (White)
+
+
+// Analog in/out (cover sensor) + NC
+DigitalIn cover(p19);
+
+// globals
+Ticker ticker; // Timer
+int ctr;
+
+int step, prevcommand, command;
+volatile int state, laseron;
+
+// Besenham variables
+int x0,y0,x1,y1,z0,z1; // positions: 0=current, 1=new
+int dx, sx; // step
+int dy, sy; // delta
+int err, e2; // error
+
+
+#define LASEROFF 1
+#define LASERON 0
+
+#define LOW_SPEED 400
+#define HIGH_SPEED 90
+
+
+/**
+*** ticker: implement timer ticker, step if required
+**/
+void tick()
+{
+ ctr++;
+ // Control X,Y: line tracker
+ switch ( state )
+ {
+ case 0: // idle (make sure laser is off)
+ laser=LASEROFF;
+ break;
+ case 1: // init
+ dx = abs(x1-x0);
+ sx = x0<x1 ? 1 : -1;
+ dy = abs(y1-y0);
+ sy = y0<y1 ? 1 : -1;
+ err = (dx>dy ? dx : -dy)/2;
+ xdir = sx > 0;
+ ydir = sy > 0;
+ if ( laseron )
+ laser = LASERON;
+ else
+ laser = LASEROFF;
+ state++;
+ break;
+ case 2: // moving
+ if (x0==x1 && y0==y1)
+ state = 0;
+ else
+ {
+ e2 = err;
+ if (e2 >-dx) { err -= dy; x0 += sx; xstep = 1;}
+ if (e2 < dy) { err += dx; y0 += sy; ystep = 1;}
+ }
+ break;
+ }
+ // Controll Z: tracking controller (independent of XY motion, not queued)
+ if ( z1 != z0 )
+ {
+ zdir = z1 > z0;
+ wait_us(5);
+ zstep= 1;
+ if ( z1 > z0 ) z0++;
+ else z0--;
+ }
+
+ if ( xstep == 1 || ystep == 1 || zstep == 1 )
+ {
+ wait_us(5);
+ xstep = ystep = zstep = 0;
+ }
+
+ // diagnostic info
+ led1 = xdir;
+ led2 = ydir;
+ led3 = laseron;
+ led4 = ctr & 4096;
+} // ticker
+
+
+/**
+*** LaosMotion() Constructor
+*** Make new motion object
+**/
+LaosMotion::LaosMotion()
+{
+ reset();
+ laser=LASEROFF;
+ pwm.period(0.0005);
+ pwm = 0.5;
+ //start.mode(PullUp);
+ xhome.mode(PullUp);
+ yhome.mode(PullUp);
+ isHome = false;
+ ticker.attach_us(&tick, HIGH_SPEED); // the address of the function to be attached (flip) and the interval (microseconds)
+}
+
+/**
+***Destructor
+**/
+LaosMotion::~LaosMotion()
+{
+
+}
+
+/**
+*** reset()
+*** reset the state
+**/
+void LaosMotion::reset()
+{
+ step = prevcommand = command = state = laseron = xstep = xdir = ystep = ydir = zstep = zdir = 0;
+ laser=LASEROFF;
+}
+
+
+
+/**
+*** ready()
+*** ready to receive new commands
+**/
+int LaosMotion::ready()
+{
+ return state == 0;
+}
+
+/**
+*** write()
+*** Write command to motion controller
+**/
+void LaosMotion::write(int i)
+{
+ // printf("m:%d %d %d %d\n", state, step, i, command);
+ if ( step == 0 )
+ {
+ prevcommand = command;
+ command = i;
+ step++;
+ }
+ else
+ {
+ switch( command )
+ {
+ case 0: // move x,y (laser off)
+ case 1: // line x,y (laser on)
+ switch ( step )
+ {
+ case 1: x1 = i; break;
+ case 2:
+ y1 = i;
+ if ( prevcommand != command )
+ ticker.attach_us(&tick, (command ? LOW_SPEED : HIGH_SPEED)); // the address of the function to be attached (flip) and the interval (microseconds)
+ laseron = (command == 1); state = 1; step = 0;
+ break;
+ }
+ break;
+ case 2: // move z
+ switch(step)
+ {
+ case 1: z1 = i; step = 0; break;
+ }
+ case 3: // set t (1/v)
+ switch(step)
+ {
+ case 1: ticker.attach_us(&tick, i); step=0; break;
+ }
+ case 4: // set x,y,z absolute
+ switch ( step )
+ {
+ case 1: x0 = i; break;
+ case 2: y0 = i; break;
+ case 3: z0=z1 = i; step=0; break;
+ }
+ case 5: // nop
+ step=0;
+ break;
+ default: // I do not understand: stop motion
+ state = 0;
+ step = 0;
+ break;
+ }
+ if ( step ) step++;
+ }
+}
+
+
+/**
+*** Return true if start button is pressed
+**/
+bool LaosMotion::isStart()
+{
+ return cover;
+}
+
+
+/**
+*** Home the axis, stop when button is pressed
+**/
+void LaosMotion::home()
+{
+ int i=0;
+ xdir = 0;
+ ydir = 0;
+ zdir = 0;
+ led1 = 0;
+ isHome = false;
+ while ( 1 )
+ {
+ xstep = ystep = 0;
+ wait(0.0001);
+ xstep = xhome;
+ ystep = yhome;
+ wait(0.0001);
+
+ led2 = !xhome;
+ led3 = !yhome;
+ led4 = ((i++) & 0x10000);
+ if ( (!xhome) && (!yhome) ) return;
+ // if ( i > 2000 && !isStart() ) return; // debounce, and quit if key pressed again
+ }
+ isHome = true;
+}
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LaosMotion/LaosMotion.h Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,54 @@
+/**
+ * LaosMotion.cpp
+ * Motion Controll functions for Laos system
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ *
+ */
+#ifndef _LAOSMOTION_H_
+#define _LAOSMOTION_H_
+#include "global.h"
+
+ /** Motion Controll system
+ *
+ * Example:
+ * @code
+ * @endcode
+ */
+class LaosMotion {
+public:
+ /** Make new LaosMotion object.
+ * Installs ticker
+ */
+ LaosMotion();
+ ~LaosMotion();
+ void write(int i); // write command word to motion controller
+ int ready();
+ void reset();
+ void home();
+ bool isStart();
+ bool isHome;
+private:
+
+};
+
+
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LaosServer/EthConfig.cpp Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,134 @@
+/*
+ * EthSetup.cpp
+ * Setup ethernet interface, based on config file
+ * Read IP, Gateway, DNS and port for server.
+ * if IP is not defined, or dhcp is set, use dhcp for Ethernet
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#include "EthConfig.h"
+
+// Ethernet connection status inputs (from phy) and outputs (to leds)
+#define ETH_LINK (1<<25)
+#define ETH_SPEED (1<<26)
+PortIn eth_conn(Port1, ETH_LINK | ETH_SPEED); // p25: link, 0=connected, 1=NC, p26: speed, 0=100mbit, 1=10mbit
+
+IPInfo ipInfo;
+
+/**
+*** Return Speed status, true==100mbps
+**/
+bool EthSpeed(void)
+{
+ int s = eth_conn.read();
+ return !(s & ETH_SPEED) && !(s & ETH_LINK);
+}
+
+/**
+*** Return Link status, true==connected
+**/
+bool EthLink(void)
+{
+ int s = eth_conn.read();
+ return !(s & ETH_LINK);
+}
+
+
+
+/**
+*** Return a IpAddress, from a string in the format: ppp.qqq.rrr.sss
+**/
+IpAddr IpParse(char *a)
+{
+ int n = 0, j, i[4];
+ char c[4];
+
+ i[0] = i[1] = i[2] = i[3] =0;
+ for (n=0; n<4; n++) {
+ while (*a && (*a < '0' || *a > '9'))
+ a++;
+ j = 0;
+ while (*a && *a >= '0' && *a <= '9')
+ {
+ if ( j<3 )
+ c[j++] = *a;
+ a++;
+ }
+ c[j] = 0;
+ i[n] = atoi(c);
+ }
+ return IpAddr(i[0], i[1], i[2], i[3]);
+}
+
+
+/**
+*** EthConfig
+**/
+EthernetNetIf * EthConfig(char *name, int *port)
+ {
+ char val[32];
+ int dhcp=0;
+ EthernetNetIf *eth;
+ IpAddr ip, mask, gw, dns;
+ printf("\r\nOpen config file: \r\n");
+ ConfigFile cfg(name);
+ if ( !cfg.IsOpen() )
+ {
+ printf("File does not exists. Using defaults\n");
+ }
+ cfg.Value("ip", val, sizeof(val), "192.168.12.10");
+ printf("ip: '%s'\n\r", val);
+ ip = IpParse(val);
+
+ cfg.Value("netmask", val, sizeof(val), "255.255.255.0");
+ printf("netmask: '%s'\n\r", val);
+ mask = IpParse(val);
+
+ cfg.Value("gateway", val, sizeof(val), "192.168.12.254");
+ printf("gateway: '%s'\n\r", val);
+ gw = IpParse(val);
+
+ cfg.Value("dns", val, sizeof(val), "192.168.12.254");
+ printf("dns: '%s'\n\r", val);
+ dns = IpParse(val);
+
+ cfg.Value("port", port, 4000);
+ printf("port: '%d'\n\r", *port);
+ cfg.Value("dhcp", &dhcp, dhcp);
+ printf("dhcp: '%d'\n\r", dhcp);
+ if ( dhcp )
+ eth = new EthernetNetIf();
+ else
+ eth = new EthernetNetIf(ip, mask, gw, dns);
+
+ printf("Setup...\n");
+ if ( eth->setup() == ETH_TIMEOUT )
+ {
+ printf("Timeout!\n");
+ }
+
+ IpAddr myip = eth->getIp();
+ ipInfo.ip[0] = myip[0];
+ ipInfo.ip[1] = myip[1];
+ ipInfo.ip[2] = myip[2];
+ ipInfo.ip[3] = myip[3];
+
+ printf("mbed IP Address is %d.%d.%d.%d\r\n", myip[0], myip[1], myip[2], myip[3]);
+ return eth;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LaosServer/EthConfig.h Thu Aug 11 09:33:15 2011 +0000 @@ -0,0 +1,38 @@ +/* + * EthSetup.cpp + * Setup ethernet interface, based on config file + * Read IP, Gateway, DNS and port for server. + * if IP is not defined, or dhcp is set, use dhcp for Ethernet + * + * Copyright (c) 2011 Peter Brier + * + * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS) + * + * LaOS is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * LaOS is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with LaOS. If not, see <http://www.gnu.org/licenses/>. + * + */ +#ifndef _ETHCONFIG_H_ +#define _ETHCONFIG_H_ +#include "global.h" +#include "EthernetNetIf.h" +#include "TCPSocket.h" +#include "ConfigFile.h" + +IpAddr IpParse(char *a); +EthernetNetIf * EthConfig(char *name, int *port); +bool EthSpeed(void); +bool EthLink(void); + +#endif +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LaosServer/LaosServer.cpp Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,152 @@
+/*
+ * LaosServer.cpp
+ * Simple TCP/IP server
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#include "LaosServer.h"
+
+// Destroy the server
+LaosServer::~LaosServer()
+{
+
+}
+
+
+// Make new server
+LaosServer::LaosServer(int port)
+{
+// Set the callbacks for Listening
+ ListeningSock.setOnEvent(this, &LaosServer::onListeningTCPSocketEvent);
+
+ // bind and listen on TCP
+ err=ListeningSock.bind(Host(IpAddr(),port));
+ printf("Binding..\r\n");
+ if(err)
+ {
+ //Deal with that error...
+ printf("Binding Error\n");
+ }
+ err=ListeningSock.listen(); // Starts listening
+ printf("Listening...\r\n");
+ if(err)
+ {
+ printf("Listening Error\r\n");
+ }
+ pConnectedSock = NULL;
+}
+
+// Read value
+int LaosServer::read()
+{
+ char buf;
+ if ( pConnectedSock != NULL )
+ {
+ int len = pConnectedSock->recv(&buf, 1);
+ if ( len )
+ return buf;
+ }
+ else
+ return -2;
+ return -1;
+}
+
+// Write int value
+void LaosServer::write(int i)
+{
+
+}
+
+
+
+// Connected socket
+void LaosServer::onConnectedTCPSocketEvent(TCPSocketEvent e)
+{
+ switch(e)
+ {
+ case TCPSOCKET_CONNECTED:
+ printf("TCP Socket Connected\r\n");
+ break;
+ case TCPSOCKET_WRITEABLE:
+ //Can now write some data...
+ printf("TCP Socket Writable\r\n");
+ break;
+ case TCPSOCKET_READABLE:
+ //Can now read dome data...
+ //printf("TCP Socket Readable\r\n");
+ // Read in any available data into the buffer
+ // char buff[128];
+ // while ( int len = pConnectedSock->recv(buff, 128) ) {
+ // And send straight back out again
+ // pConnectedSock->send(buff, len);
+ // buff[len]=0; // make terminater
+ // printf("Received&Wrote:%s\r\n",buff);
+ //}
+ //int len = pConnectedSock->recv(buff, 10);
+ //printf("R%d\n", len);
+ break;
+ case TCPSOCKET_CONTIMEOUT:
+ printf("TCP Socket Timeout\r\n");
+ break;
+ case TCPSOCKET_CONRST:
+ printf("TCP Socket CONRST\r\n");
+ break;
+ case TCPSOCKET_CONABRT:
+ printf("TCP Socket CONABRT\r\n");
+ break;
+ case TCPSOCKET_ERROR:
+ printf("TCP Socket Error\r\n");
+ break;
+ case TCPSOCKET_DISCONNECTED:
+ //Close socket...
+ printf("TCP Socket Disconnected\r\n");
+ pConnectedSock->close();
+ pConnectedSock = NULL;
+ break;
+ default:
+ printf("DEFAULT\r\n");
+ }
+}
+
+// Listening socket
+void LaosServer::onListeningTCPSocketEvent(TCPSocketEvent e)
+{
+ switch(e)
+ {
+ case TCPSOCKET_ACCEPT:
+ printf("Listening: TCP Socket Accepted\r\n");
+ // Accepts connection from client and gets connected socket.
+ err=ListeningSock.accept(&client, &pConnectedSock);
+ if (err) {
+ printf("onListeningTcpSocketEvent : Could not accept connection.\r\n");
+ return; //Error in accept, discard connection
+ }
+ // Setup the new socket events
+ pConnectedSock->setOnEvent(this, &LaosServer::onConnectedTCPSocketEvent);
+ // We can find out from where the connection is coming by looking at the
+ // Host parameter of the accept() method
+ IpAddr clientIp = client.getIp();
+ printf("Listening: Incoming TCP connection from %d.%d.%d.%d\r\n",
+ clientIp[0], clientIp[1], clientIp[2], clientIp[3]);
+ break;
+ default:
+ printf("Listening socket: DEFAULT\r\n");
+ };
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LaosServer/LaosServer.h Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,81 @@
+/**
+ * LaosServer.cpp
+ * Simple TCP/IP server
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Sends and Receives integers via TCP/IP
+ *
+ @code
+ --code--
+
+ @endcode
+ */
+
+#ifndef _LAOSSERVER_H_
+#define _LAOSSERVER_H_
+
+#include "global.h"
+#include "EthernetNetIf.h"
+#include "TCPSocket.h"
+
+
+ /** Simple TCP/IP Server
+ * Create server based on config file.
+ *
+ * Example:
+ * @code
+ * LaosServer srv("config.txt");
+ * int i = srv.read();
+ * srv.write(i);
+ * @endcode
+ */
+class LaosServer {
+public:
+ /** Make new LaosServer object. Open config file.
+ * Note: the file handle is kept open during the lifetime of this object.
+ * To close the file: destroy this ConfigFile object!
+ * @param file Filename of the configuration file.
+ */
+ LaosServer(int port);
+
+ ~LaosServer();
+
+/** Read value. If socket is not open, this blocks
+ * @return integer value, read from socket
+ */
+ int read();
+
+/** Write Integer value. If socket is not open, or cannot write: block
+ * @param i Integer
+ * @return "true" if the key is found "false" is key is not found (default value is returned)
+ */
+ void write(int i);
+
+private:
+ int port;
+ TCPSocket ListeningSock;
+ TCPSocket* pConnectedSock;
+ Host client;
+ TCPSocketErr err;
+ void onConnectedTCPSocketEvent(TCPSocketEvent e);
+ void onListeningTCPSocketEvent(TCPSocketEvent e);
+
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/global.h Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,35 @@
+/*
+ * global.h
+ * Laos Controller, global header file, included in all other files
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#ifndef _GLOBAL_H_
+#define _GLOBAL_H_
+
+#include "mbed.h"
+#include "LaosDisplay.h"
+
+typedef struct
+{
+ int ip[4], gw[4], nm[4], dns[4], port;
+} IPInfo;
+extern IPInfo ipInfo;
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Aug 11 09:33:15 2011 +0000
@@ -0,0 +1,223 @@
+/*
+ * main.cpp
+ * Laos Controller, main function
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
+ *
+ * LaOS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LaOS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * This program consists of a few parts:
+ *
+ * ConfigFile Read configuration files
+ * EthConfig Initialize an ethernet stack, based on a configuration file (includes link status monitoring)
+ * LaosDisplay User interface functions (read keys, display text and menus on LCD)
+ * LaosMenu User interface stuctures (menu navigation)
+ * LaosServer TCP/IP server, accept connections read/write data
+ * LaosMotion Motion control functions (X,Y,Z motion, homing)
+ * LaosIO Input/Output functions
+ * LaosFile File based jobs (read/write/delete)
+ *
+ * Program functions:
+ * 1) Read config file
+ * 2) Enable TCP/IP stack (Fixed ip or DHCP)
+ * 3) Instantiate tcp/ip port and accept connections
+ * 4) Show menus, peform user actions
+ * 5) Controll laser
+ * 6) Controll motion
+ * 7) Set and read IO, check status (e.g. interlocks)
+ *
+ */
+#include "global.h"
+#include "ConfigFile.h"
+#include "EthConfig.h"
+#include "LaosServer.h"
+#include "LaosMenu.h"
+#include "LaosMotion.h"
+#include "SDFileSystem.h"
+
+//
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+
+// Status and communication
+DigitalOut eth_link(p29); // green
+DigitalOut eth_speed(p30); // yellow
+EthernetNetIf *eth; // Ethernet, tcp/ip
+
+// Filesystems
+LocalFileSystem local("local"); //File System
+// SparkFun board SDFileSystem sd(p5, p6, p7, p8, "sd");
+SDFileSystem sd(p11, p12, p13, p14, "sd");
+
+// Laos objects
+LaosDisplay *dsp;
+LaosMenu *mnu;
+LaosServer *srv;
+LaosMotion *mot;
+int port;
+
+// Externs
+extern int x0,y0,z0;
+
+// Protos
+void ReadFile(void);
+
+
+/**
+*** Main function
+**/
+int main()
+{
+ printf("BOOT...\n");
+ eth_speed = 1;
+
+ printf("MENU...\n");
+ mnu = new LaosMenu();
+ eth_speed=0;
+
+ printf("CONFIG...\n");
+ eth = EthConfig("/local/config.txt", &port);
+ eth_speed=1;
+
+ printf("SERVER...\n");
+ srv = new LaosServer(port);
+
+ printf("MOTION...\n");
+ mot = new LaosMotion();
+
+ printf("RUN...\n");
+
+ // Wait for key, and then home
+ printf("WAIT FOR HOME KEY...\n");
+
+ // Start homing
+ while ( !mot->isStart() );
+ mot->home();
+ // if ( !mot->isHome ) exit(1);
+ printf("HOME DONE.\n");
+
+
+ while(1)
+ {
+ // Get file
+ printf("GET FILE...\n");
+
+ led1=led2=led3=led4=0;
+ ReadFile();
+ mot->reset();
+ printf("RUN FILE...\n");
+ // Read from BIN file
+ FILE *in = fopen("/sd/1.bin", "rb");
+ int v;
+ while (!feof(in))
+ {
+ fread(&v, sizeof(v),1,in);
+ while (! mot->ready() );
+ mot->write(v);
+ }
+ fclose(in);
+ // done
+ printf("DONE!...\n");
+ }
+
+ exit(2);
+
+
+ // Read from ASCII file
+ /* in = fopen("/sd/3.txt", "r");
+ while (!feof(in))
+ {
+ fscanf(in, "%d", &v);
+ while (! mot->ready() );
+ mot->write(v);
+ }
+ fclose(in);
+ */
+
+}
+
+
+/**
+*** Read file from network and save on SDcard
+**/
+void ReadFile(void)
+{
+ unsigned short int i=0,j=0,done=0,connected=0;
+ int c, sign=1;
+ Timer tmr;
+ tmr.start();
+ FILE *out = fopen("/sd/1.bin", "wb");
+ char str[16];
+
+ while(!done)
+ {
+ Net::poll();
+ if(tmr.read() > 0.01) // sec
+ {
+ mnu->x = x0;
+ mnu->y = y0;
+ mnu->Handle();
+ if ( mnu->x != x0 || mnu->y != y0 )
+ {
+ mot->write(0); mot->write(mnu->x); mot->write(mnu->y);
+ while(!mot->ready());
+ }
+
+ tmr.reset();
+ if ( i++ & ( EthSpeed() ? 0x400 : 0x800) )
+ eth_speed = !eth_speed; //Show that we are alive
+ eth_link = EthLink();
+ }
+ c = srv->read();
+ if ( c != -2 && !connected)
+ {
+ connected=1;
+ printf("Connected...");
+ }
+ switch(c)
+ {
+ case -2: if ( connected ) done=1; break;
+ case '0': case '1': case '2': case '3': case '4':
+ case '5': case '6': case '7': case '8': case '9':
+ if ( j < 16)
+ str[j++] = (char)c;
+ break;
+ case '-': sign = -1; break;
+ case ' ': case '\t': case '\r': case '\n':
+ if ( j )
+ {
+ int val=0, d=1;
+ while(j)
+ {
+ if ( str[j-1] == '-' )
+ d *= -1;
+ else
+ val += (str[j-1]-'0') * d;
+ d *= 10;
+ j--;
+ }
+ val *= sign;
+ sign = 1;
+ fwrite(&val, sizeof(val), 1, out);
+ }
+ break;
+ } // Switch
+ } // while true
+ fclose(out);
+} // read file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Aug 11 09:33:15 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9a9732ce53a1