main.cpp

00001 #include "mbed.h"
00002 #include "MQTTClient.h"
00003 #include "MQTTEthernet.h"
00004 #include "rtos.h"
00005 #include "k64f.h"
00006 #include "ultrasonic.h"
00007 
00008 // connect options for MQTT broker
00009 #define BROKER "192.168.1.133"//"broker.mqttdashboard.com"   // MQTT broker URL
00010 #define PORT 1883                           // MQTT broker port number
00011 #define CLIENTID "cd23787"                         // use K64F MAC address without colons
00012 #define USERNAME "c1"                         // not required for MQTT Dashboard public broker 
00013 #define PASSWORD ""                         // not required for MQTT Dashboard public broker
00014 #define TOPIC "3435"                            // MQTT topic
00015 
00016 Queue<uint32_t, 6> messageQ;
00017 
00018 Timer timer;
00019 
00020 DigitalOut trigger1(PTC5);
00021 DigitalIn echo1(PTC7);
00022 
00023 DigitalOut trigger2(PTC9);
00024 DigitalIn echo2(PTC8);
00025 
00026 DigitalOut trigger3(PTC0);
00027 DigitalIn echo3(PTC1);
00028 
00029 DigitalOut trigger4(PTB19);
00030 DigitalIn echo4(PTB18);
00031 
00032 // LED color control function
00033 void controlLED(color_t led_color) {
00034     switch(led_color) {
00035         case red :
00036             greenLED = blueLED = 1;          
00037             redLED = 0.7;
00038             break;
00039         case green :
00040             redLED = blueLED = 1;
00041             greenLED = 0.7;
00042             break;
00043         case blue :
00044             redLED = greenLED = 1;
00045             blueLED = 0.7;
00046             break;
00047         case off :
00048             redLED = greenLED = blueLED = 1;
00049             break;
00050     }
00051 }
00052     
00053 // Switch 2 interrupt handler
00054 void sw2_ISR(void) {
00055     messageQ.put((uint32_t*)22);
00056 }
00057 
00058 // Switch3 interrupt handler
00059 void sw3_ISR(void) {
00060     messageQ.put((uint32_t*)33);
00061 }
00062  
00063 // MQTT message arrived callback function
00064 void messageArrived(MQTT::MessageData& md) {
00065     MQTT::Message &message = md.message;
00066         
00067     pc.printf("Receiving MQTT message:  %.*s\r\n", message.payloadlen, (char*)message.payload);
00068     
00069     if (message.payloadlen == 3) {
00070         if (strncmp((char*)message.payload, "red", 3) == 0)
00071             controlLED(red);
00072         
00073         else if(strncmp((char*)message.payload, "grn", 3) == 0)
00074             controlLED(green);
00075         
00076         else if(strncmp((char*)message.payload, "blu", 3) == 0)
00077             controlLED(blue);
00078         
00079         else if(strncmp((char*)message.payload, "off", 3) == 0)
00080             controlLED(off);
00081     }        
00082 }
00083 void dist1(int distance){
00084             pc.printf("| %d mm\t",distance);  
00085 }
00086 void dist2(int distance){
00087             pc.printf("| %d mm\t",distance);  
00088 }
00089 void dist3(int distance){
00090             pc.printf("| %d mm\t",distance);  
00091 }
00092 void dist4(int distance){
00093             pc.printf("| %d mm\t |\n",distance);  
00094 }
00095 //ultrasonic mu1(PTC5,PTC7,0.1,0.5,&dist1);
00096 //ultrasonic mu2(PTC9,PTC8,0.1,.5,&dist1);
00097 //ultrasonic mu3(PTC0,PTC1,0.1,.5,&dist1);
00098 //ultrasonic mu4(PTC19,PTC18,0.1,.5,&dist1);
00099 int main() {
00100         int distance;
00101         int corr,res;
00102 
00103     // turn off LED  
00104     controlLED(off);
00105 //   mu1.startUpdates();
00106 //   mu2.startUpdates();
00107 //   mu3.startUpdates();
00108 //   mu4.startUpdates();
00109     
00110         timer.reset();
00111         timer.start();
00112         while(echo1==2){};
00113             timer.stop();
00114             corr =timer.read_us();
00115 
00116     
00117     
00118     // set SW2 and SW3 to generate interrupt on falling edge 
00119     switch2.fall(&sw2_ISR);
00120     switch3.fall(&sw3_ISR);
00121     pc.baud(115200);
00122     pc.printf("\r\n\r\nWelcome to the K64F MQTT Demo!\r\n");
00123     pc.printf("\r\nAttempting connect to local network...\r\n");
00124         
00125     // initialize ethernet interface
00126     MQTTEthernet ipstack = MQTTEthernet();
00127     
00128     // get and display client network info
00129     EthernetInterface& eth = ipstack.getEth();
00130     pc.printf("IP address is %s\r\n", eth.getIPAddress());
00131     pc.printf("MAC address is %s\r\n", eth.getMACAddress());
00132     pc.printf("Gateway address is %s\r\n", eth.getGateway());
00133     
00134     // construct the MQTT client
00135     MQTT::Client<MQTTEthernet, Countdown> client = MQTT::Client<MQTTEthernet, Countdown>(ipstack);
00136     
00137     char* hostname = BROKER;
00138     int port = PORT;
00139     int rc;
00140     
00141     pc.printf("\r\nAttempting TCP connect to %s:%d:  ", hostname, port);
00142     
00143     // connect to TCP socket and check return code
00144     if ((rc = ipstack.connect(hostname, port)) != 0)
00145         pc.printf("failed: rc= %d\r\n", rc);
00146         
00147     else
00148         pc.printf("success\r\n");
00149     
00150     MQTTPacket_connectData data = MQTTPacket_connectData_initializer;       
00151     data.MQTTVersion = 3;
00152     data.clientID.cstring = CLIENTID;
00153 //    data.username.cstring = USERNAME;
00154 //    data.password.cstring = PASSWORD;
00155     
00156     // send MQTT connect packet and check return code
00157     pc.printf("Attempting MQTT connect to %s:%d: ", hostname, port);
00158     if ((rc = client.connect(data)) != 0)
00159         pc.printf("failed: rc= %d\r\n", rc);
00160         
00161     else
00162         pc.printf("success\r\n");
00163         
00164     char* topic = TOPIC;
00165         int lenth1;
00166     
00167     // subscribe to MQTT topic
00168     pc.printf("Subscribing to MQTT topic %s: ", topic);
00169     if ((rc = client.subscribe(topic, MQTT::QOS0, messageArrived)) != 0)
00170         pc.printf("failed: rc= %d\r\n", rc);
00171         
00172     else
00173         pc.printf("success\r\n");
00174         
00175     MQTT::Message message;
00176     char buf[100];
00177     message.qos = MQTT::QOS1;
00178     message.retained = false;
00179     message.dup = false;
00180     message.payload = (void*)buf;
00181     message.payloadlen = strlen(buf)+1;
00182     
00183     while(true) {
00184 //              mu1.checkDistance();
00185 //              mu2.checkDistance();
00186 //          mu3.checkDistance();
00187 //              mu4.checkDistance();
00188             
00189                     trigger1=1;
00190                     timer.reset();
00191                     wait_us(10);
00192                     trigger1=0;
00193                     while(echo1==0){};
00194                         timer.start();
00195                     while(echo1==1){};
00196                         timer.stop();
00197                         res=timer.read_us();
00198                         distance =(res-corr)/58.0;
00199                     pc.printf("| %d\t",distance);
00200 
00201                     trigger2=1;
00202                     timer.reset();
00203                     wait_us(10);
00204                     trigger2=0;
00205                     while(echo2==0){};
00206                         timer.start();
00207                     while(echo2==1){};
00208                         timer.stop();
00209                         res=timer.read_us();
00210                         distance =(res-corr)/58.0;
00211                     pc.printf("| %d\t",distance);
00212                         
00213                     trigger3=1;
00214                     timer.reset();
00215                     wait_us(10);
00216                     trigger3=0;
00217                     while(echo3==0){};
00218                         timer.start();
00219                     while(echo3==1){};
00220                         timer.stop();
00221                         res=timer.read_us();
00222                         distance =(res-corr)/58.0;
00223                     pc.printf("| %d\t",distance);
00224                         
00225                     trigger4=1;
00226                     timer.reset();
00227                     wait_us(10);
00228                     trigger4=0;
00229                     while(echo4==0){};
00230                         timer.start();
00231                     while(echo4==1){};
00232                         timer.stop();
00233                         res=timer.read_us();
00234                         distance =(res-corr)/58.0;
00235                     pc.printf("| %d |\n",distance);
00236             
00237             
00238             
00239         osEvent switchEvent = messageQ.get(100);
00240         
00241         if (switchEvent.value.v == 22 || switchEvent.value.v == 33) {
00242             switch(switchEvent.value.v) {
00243                 case 22 :
00244                     sprintf(buf, "sw2");
00245                     break;
00246                 case 33 :
00247                     sprintf(buf, "sw3");
00248                     break;
00249             }
00250             pc.printf("Publishing MQTT message: %.*s\r\n", message.payloadlen, (char*)message.payload);
00251             rc = client.publish(topic, message);
00252             client.yield(100);
00253         }
00254         
00255         else {
00256             client.yield(100);
00257         }           
00258     }
00259 }