Ivan Stoev / Team01_HEPTA_Trainig

Entire Solution. Final version

Dependencies:   Hepta9axis HeptaBattery HeptaCamera_GPS HeptaTemp HeptaXbee SDFileSystem mbed

Fork of Team by Ivan Stoev

3daf572bcae1/main.cpp@1:20db10adb732, 2017-10-28 (annotated)

Committer:
tuba
Date:
Sat Oct 28 09:25:50 2017 +0000
Revision:
1:20db10adb732
Parent:
0:ea40bd156a1a
Child:
2:25c54b82c4e8
final commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tuba 0:ea40bd156a1a 1 #include "mbed.h"
tuba 0:ea40bd156a1a 2 #include "SDFileSystem.h"
tuba 0:ea40bd156a1a 3 #include "HeptaXbee.h"
tuba 0:ea40bd156a1a 4 #include "HeptaCamera_GPS.h"
tuba 0:ea40bd156a1a 5 #include "Hepta9axis.h"
tuba 0:ea40bd156a1a 6 #include "HeptaTemp.h"
tuba 0:ea40bd156a1a 7 #include "HeptaBattery.h"
tuba 0:ea40bd156a1a 8
tuba 0:ea40bd156a1a 9
tuba 0:ea40bd156a1a 10
tuba 0:ea40bd156a1a 11 Serial pc(USBTX,USBRX, 9600);
tuba 0:ea40bd156a1a 12 SDFileSystem sd(p5, p6, p7, p8, "sd");
tuba 0:ea40bd156a1a 13 HeptaBattery bat(p16, p25);
tuba 0:ea40bd156a1a 14 HeptaTemp temp(p17);
tuba 0:ea40bd156a1a 15 Hepta9axis n_axis(p28, p27, 0xD0, 0x18);
tuba 0:ea40bd156a1a 16 HeptaCamera_GPS cam_gps(p13, p14,p25, p24);
tuba 0:ea40bd156a1a 17 HeptaXbee xbee(p9,p10);
tuba 0:ea40bd156a1a 18
tuba 1:20db10adb732 19 bool picture_here (float latitude, char ns, float longitude, char ew)
tuba 1:20db10adb732 20 {
tuba 1:20db10adb732 21 return true;
tuba 1:20db10adb732 22 if ((latitude >=35.722) &(latitude<=35.728) && (longitude >=140.055) && (longitude<=140.060) && (ns == 'N')&&(ew=='E'))
tuba 1:20db10adb732 23 return true;
tuba 1:20db10adb732 24 return false;
tuba 1:20db10adb732 25 }
tuba 1:20db10adb732 26
tuba 1:20db10adb732 27 bool send_here (float latitude, char ns, float longitude, char ew)
tuba 1:20db10adb732 28 {
tuba 1:20db10adb732 29 return true;
tuba 1:20db10adb732 30 if ((latitude >=42.664) &(latitude<=42.699) && (longitude >=23.330) && (longitude<=23.350) && (ns == 'N')&&(ew=='E'))
tuba 1:20db10adb732 31 return true;
tuba 1:20db10adb732 32 return false;
tuba 1:20db10adb732 33 }
tuba 1:20db10adb732 34
tuba 0:ea40bd156a1a 35 int main() {
tuba 0:ea40bd156a1a 36 xbee.baud(9600);
tuba 1:20db10adb732 37 //xbee.printf("Xbee comunication begin!\n\r");
tuba 0:ea40bd156a1a 38 char * dir_name = "/sd/Pictures";
tuba 0:ea40bd156a1a 39 mkdir(dir_name, 0777);
tuba 0:ea40bd156a1a 40
tuba 0:ea40bd156a1a 41 HeptaCamera_GPS::ErrorNumber err1 = HeptaCamera_GPS::NoError;
tuba 0:ea40bd156a1a 42 //
tuba 0:ea40bd156a1a 43 mkdir("/sd/Data", 0777);
tuba 0:ea40bd156a1a 44 pc.printf("Created!\n\r");
tuba 1:20db10adb732 45 //cam_gps.gps_setting();
tuba 0:ea40bd156a1a 46 // while (true) {
tuba 1:20db10adb732 47 // xbee.putc(cam_gps.getc());
tuba 0:ea40bd156a1a 48 //}
tuba 1:20db10adb732 49
tuba 0:ea40bd156a1a 50 while (true) {
tuba 0:ea40bd156a1a 51 pc.printf("Begin messurment\n\r");
tuba 0:ea40bd156a1a 52 float batLev;
tuba 0:ea40bd156a1a 53 float tempMes;
tuba 0:ea40bd156a1a 54
tuba 0:ea40bd156a1a 55 FILE *fp = fopen("/sd/Data/Data.txt", "w");
tuba 0:ea40bd156a1a 56 if(fp == NULL) {
tuba 0:ea40bd156a1a 57 error("Could not open file for write\n\r");
tuba 0:ea40bd156a1a 58 }
tuba 1:20db10adb732 59 float time=0.0,latitude=0.0,longitude=0.0,hacu=0.0,altitude=0.0;
tuba 1:20db10adb732 60 char ns='A',ew='B';
tuba 1:20db10adb732 61
tuba 1:20db10adb732 62 for (int i =0; i < 1; ++i)
tuba 1:20db10adb732 63 {
tuba 1:20db10adb732 64 pc.printf("Mesurement attemt %d\r\n", i);
tuba 1:20db10adb732 65 fprintf(fp, "Picture data - Name\n\r--------------------------------\n\r");
tuba 0:ea40bd156a1a 66 temp.temp_sense(&tempMes);
tuba 0:ea40bd156a1a 67 fprintf(fp, "Temperature [%f]\n\r", tempMes);
tuba 1:20db10adb732 68 pc.printf( "Temperature [%f]\n\r", tempMes);
tuba 0:ea40bd156a1a 69 bat.vol(&batLev);
tuba 0:ea40bd156a1a 70 fprintf(fp, "Battery Level is [%f] Temperature [%f] ", batLev, tempMes);
tuba 1:20db10adb732 71 pc.printf("Battery Level is [%f] Temperature [%f] \n\r", batLev, tempMes);
tuba 0:ea40bd156a1a 72 float mx,my,mz;
tuba 0:ea40bd156a1a 73 n_axis.sen_mag(&mx,&my,&mz);
tuba 0:ea40bd156a1a 74 fprintf(fp, "Magnetometer[%f,%f,%f] ",mx,my,mz);
tuba 1:20db10adb732 75 pc.printf("Magnet %f,%f,%f\r\n",mx,my,mz);
tuba 0:ea40bd156a1a 76 float gx,gy,gz;
tuba 0:ea40bd156a1a 77 n_axis.sen_gyro(&gx,&gy,&gz);
tuba 0:ea40bd156a1a 78 fprintf(fp, "Gyroscope[%f,%f,%f] ",gx,gy,gz);
tuba 1:20db10adb732 79 pc.printf("Gyroscope %f,%f,%f\r\n",gx,gy,gz);
tuba 0:ea40bd156a1a 80 float ax,ay,az;
tuba 0:ea40bd156a1a 81 n_axis.sen_acc(&ax,&ay,&az);
tuba 0:ea40bd156a1a 82 fprintf(fp, "Acceletarion[%f,%f,%f]\r\n",ax,ay,az);
tuba 1:20db10adb732 83 pc.printf("Acceletarion %f,%f,%f\r\n",ax,ay,az);
tuba 0:ea40bd156a1a 84 int quality=0,stnum=0,gps_check=0;
tuba 1:20db10adb732 85 char aunit='m';
tuba 1:20db10adb732 86 pc.printf("GPS\r\n");
tuba 1:20db10adb732 87 wait(1.0);
tuba 0:ea40bd156a1a 88 cam_gps.gps_setting();
tuba 0:ea40bd156a1a 89 wait(1.0);
tuba 0:ea40bd156a1a 90 cam_gps.gga_sensing(&time, &latitude, &ns, &longitude, &ew, &quality, &stnum, &hacu, &altitude, &aunit, &gps_check);
tuba 0:ea40bd156a1a 91 if((gps_check==0)|(gps_check==1)) {
tuba 0:ea40bd156a1a 92 fprintf(fp, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c\r\n",time,latitude,ns,longitude,ew,quality,stnum,hacu,altitude,aunit);
tuba 1:20db10adb732 93 pc.printf("$GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c\r\n",time,latitude,ns,longitude,ew,quality,stnum,hacu,altitude,aunit);
tuba 0:ea40bd156a1a 94 }
tuba 0:ea40bd156a1a 95 fprintf(fp, "Picture data - End\n\r--------------------------------\n\r");
tuba 1:20db10adb732 96 pc.printf("Takeing picture \r\n");
tuba 1:20db10adb732 97 if (picture_here(latitude,ns,longitude,ew)){
tuba 1:20db10adb732 98 pc.printf("Takeing picture attemt %d\r\n", i);
tuba 1:20db10adb732 99 char fname[64];
tuba 1:20db10adb732 100 snprintf(fname, sizeof(fname), "%s/Picture%d.jpg", dir_name, i);
tuba 1:20db10adb732 101 //snprintf(fname, sizeof(fname), "/sd/test.jpg");
tuba 1:20db10adb732 102 FILE *fp_jpeg = fopen(fname, "w");
tuba 1:20db10adb732 103 //cam_gps.set_image_file(fp_jpeg);
tuba 1:20db10adb732 104 //pc.printf("Setting baud\n\r");
tuba 1:20db10adb732 105 cam_gps.Sync();
tuba 1:20db10adb732 106 cam_gps.initialize(HeptaCamera_GPS::Baud115200, HeptaCamera_GPS::JpegResolution640x480);
tuba 1:20db10adb732 107 //pc.printf("Takeing picture\n\r");
tuba 1:20db10adb732 108 err1 = cam_gps.getJpegSnapshotPicture(fp_jpeg);
tuba 1:20db10adb732 109 //cam_gps.test_jpeg_snapshot_picture(1);
tuba 1:20db10adb732 110 if (HeptaCamera_GPS::NoError == err1) {
tuba 1:20db10adb732 111 printf("[ OK ] : Picture taken\r\n");
tuba 1:20db10adb732 112 } else {
tuba 1:20db10adb732 113 printf("[FAIL] : Picture failed (Error=%02X)\r\n", (int)err1);
tuba 1:20db10adb732 114 }
tuba 1:20db10adb732 115 fclose(fp_jpeg);
tuba 1:20db10adb732 116 }
tuba 0:ea40bd156a1a 117 wait(1.0);
tuba 1:20db10adb732 118 //xbee.printf("num = %d\r\n",i);
tuba 0:ea40bd156a1a 119 }
tuba 0:ea40bd156a1a 120 fclose(fp);
tuba 1:20db10adb732 121 pc.printf("Sending phase\r\n");
tuba 1:20db10adb732 122 if (send_here(latitude,ns,longitude,ew))
tuba 1:20db10adb732 123 {
tuba 1:20db10adb732 124 wait(5.0);
tuba 1:20db10adb732 125 FILE *fp1 = fopen("/sd/Data/Data.txt", "r");
tuba 1:20db10adb732 126 char buf[100];
tuba 1:20db10adb732 127 int nread = 0;
tuba 1:20db10adb732 128 if (fp1) {
tuba 1:20db10adb732 129 pc.printf("Sending data file %s\r\n", "/sd/Data/Data.txt");
tuba 1:20db10adb732 130 //xbee.printf("#SAT6");//%d%s",strlen("/sd/Data/Data.txt"),"/sd/Data/Data.txt");
tuba 1:20db10adb732 131 while ((nread = fread(buf, 1, sizeof buf, fp1)) > 0){
tuba 1:20db10adb732 132 for (int i =0; i<nread; i++)
tuba 1:20db10adb732 133 {
tuba 1:20db10adb732 134 xbee.putc(buf[i]);
tuba 1:20db10adb732 135 }
tuba 0:ea40bd156a1a 136 }
tuba 1:20db10adb732 137 // xbee.printf("#SAT7");
tuba 1:20db10adb732 138 } else error("Could not open file for write\n\r");
tuba 1:20db10adb732 139 fclose(fp1);
tuba 1:20db10adb732 140 wait(15.0);
tuba 1:20db10adb732 141 for (int i =0; i < 1; ++i)
tuba 1:20db10adb732 142 {
tuba 1:20db10adb732 143 char fname[64];
tuba 1:20db10adb732 144 snprintf(fname, sizeof(fname), "%s/Picture%d.jpg", dir_name, i);
tuba 1:20db10adb732 145 //snprintf(fname, sizeof(fname), "/sd/test.jpg");
tuba 1:20db10adb732 146 FILE *fp_jpeg = fopen(fname, "r");
tuba 1:20db10adb732 147 char buf[100];
tuba 1:20db10adb732 148 int nread = 0;
tuba 1:20db10adb732 149 if (fp_jpeg) {
tuba 1:20db10adb732 150 pc.printf("Sending image file %s\r\n", fname);
tuba 1:20db10adb732 151 // xbee.printf("#SAT8");//%d%s",strlen(fname),fname);
tuba 1:20db10adb732 152 while ((nread = fread(buf, 1, sizeof buf, fp_jpeg)) > 0){
tuba 1:20db10adb732 153 for (int i =0; i<nread; i++)
tuba 1:20db10adb732 154 {
tuba 1:20db10adb732 155 xbee.putc(buf[i]);
tuba 1:20db10adb732 156 }
tuba 1:20db10adb732 157 }
tuba 1:20db10adb732 158 // xbee.printf("#SAT9");
tuba 1:20db10adb732 159 } else error("Could not open file for write\n\r");
tuba 1:20db10adb732 160 fclose(fp_jpeg);
tuba 0:ea40bd156a1a 161 }
tuba 1:20db10adb732 162 }
tuba 0:ea40bd156a1a 163 }
tuba 0:ea40bd156a1a 164 }