Diff: main.cpp

Revision:

3:20d8657930b6

Parent:

1:1c1802ec42a2

--- a/main.cpp	Thu Aug 23 14:11:49 2012 +0000
+++ b/main.cpp	Wed Nov 23 01:09:54 2016 +0000
@@ -1,21 +1,187 @@
 #include "mbed.h"
-#include "EthernetInterface.h"
-#include "Websocket.h"
- 
- 
+#include "Servo.h" 
+#include "rtos.h"
+#include "LSM9DS1.h"
+#include <vector>
+Servo myservo(p21);
+Serial pc(USBTX, USBRX);
+Serial Blue(p13,p14);
+DigitalIn otherLock(p8);
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled4(LED4);
+LSM9DS1 imu(p9, p10, 0xD6, 0x3C); //sda, scl, xgaddr, maddr
+Mutex MUT;
+int waitTime;
+float position = 0;
+int oldOther = 0;
+float oldPosition = 0;
+void bluetooth(void const *args)
+{
+    while (1){
+        int bnum = Blue.getc(); //button number
+        if (bnum == 1) {
+            position = 1;
+        }else 
+        if (bnum == 0){
+            position = 0;
+        }
+        Thread::wait(500);
+    }
+}
+void lock(void const *agrs){
+    while (1){
+        if (oldOther != otherLock){
+            oldOther = otherLock;
+            myled4 = oldOther;
+        } else if (oldPosition != position){
+            oldPosition = position;
+            myled4 = position;
+        }
+    }
+}    
 int main() {
-    char recv[30];
- 
-    EthernetInterface eth;
-    eth.init(); //Use DHCP
-    eth.connect();
-    printf("IP Address is %s\n\r", eth.getIPAddress());
- 
-    Websocket ws("ws://sockets.mbed.org:443/ws/demo/wo");
-    ws.connect();
- 
-    while (1) {
-        ws.send("WebSocket Hello World over Ethernet");
-        wait(1.0);
+    Thread thread1(bluetooth);  
+    Thread thread2(lock);          
+    double knockSequence[200] = {0.0}; //array to store 5 second knock sequence
+    double passwordSequence[200] = {1.0}; 
+    int knockLength = 0;
+    
+    passwordSequence[0] = 1.0;
+    passwordSequence[26] = 1.0;
+    passwordSequence[44] = 1.0;
+    passwordSequence[50] = 1.0;
+    passwordSequence[76] = 1.0;
+    passwordSequence[126] = 1.0;
+    passwordSequence[150] = 1.0;
+    
+    for (int i = 0; i<200; i++){
+        //pc.printf("%f \n\r", passwordSequence[i]);
+        }
+    
+    
+    //initialization of the IMU
+    LSM9DS1 imu(p9, p10, 0xD6, 0x3C); //sda, scl, xgaddr, maddr
+    imu.begin();
+    if (!imu.begin()) {
+        pc.printf("Failed to communicate with LSM9DS1.\n");
     }
+    imu.calibrate();
+    
+    //from testing it has been determined that imu.ax is the most sensitive to a
+    //knock when the unit is in both the flat table top position, and the postion
+    //it would likely be in if it were attached to a door
+    
+    //this while loop will continuously measure until it sees a knock then record
+    //the knock sequence for five seconds before stopping
+    
+    //start of knock thread
+    while(1){
+        bool knockStarted = false;
+        int count = 0;
+        bool keepMeasuring = true;
+        while(keepMeasuring){
+            imu.readAccel(); //read the accelerometer
+            int knock = abs(imu.ax); //consider only the reading from imu.ax for a knock
+            
+            if (int(knock)>700){
+                //start recording the knock sequence only if we see a first knock
+                if (!knockStarted){
+                    waitTime = 25;
+                    knockStarted = true;
+                    pc.printf("Knock Started\n\r");
+                    count = 0;
+                    }
+                knockSequence[count] = 1.0;
+                knockLength = count;
+                }
+            else{
+                if (knockStarted){
+                    knockSequence[count] = 0.0;
+                    }
+                }
+            
+            //increment the count which indexes the knock sequence array and also
+            //if the count is higher than the highest index of the knock sequence
+            //array reset the count to zero and reset knockStarted to false
+            count++;
+            if (count>199 and knockStarted){
+                keepMeasuring = false;
+                pc.printf("Knock Finished\n\r");
+                }
+            if (count>199){ 
+                count=0;
+                }
+            
+            Thread::wait(25); //sample at 40 hz
+            // test to print timer to the terminal
+            if (count % 19 == 0){
+                pc.printf("%d\n\r", count/19);
+                }    
+        }
+        
+    
+        //compare the measured knock to the password knock
+        //count the relative distances (in sample time) between knocks
+        int passwordDist[201] = {0};
+        int distCount = 0;
+        int distIDX = 0;
+        for (int i = 0; i < 200; i++){
+            if (passwordSequence[i] != 0.0){
+                if (distCount != 0){
+                    passwordDist[distIDX] = distCount;
+                    distIDX++;
+                    }
+                distCount = 0;
+                }
+            else{
+                distCount++;
+                }
+            }
+            
+        int knockDist[201] = {0};
+        distCount = 0;
+        distIDX = 0;
+        for (int i = 0; i < 200; i++){
+            if (knockSequence[i] != 0.0){
+                if (distCount != 0){
+                    knockDist[distIDX] = distCount;
+                    distIDX++;
+                    }
+                distCount = 0;
+                }
+            else{
+                distCount++;
+                }
+            }
+        
+        // now we have the distances (in sample time) between each knock for both
+        // the password and the knock sequence so lets compare them
+        
+        bool passwordMatch = true;
+        for (int i = 0; i<200; i++){
+            //only keep measuring while there are still inter knock distances to 
+            //compare
+            if ((passwordDist[i] != 0) && (passwordDist[i+1] !=0)){
+                double passRatio = double(passwordDist[i])/150;
+                double knockRatio = double(knockDist[i])/double(knockLength);
+                pc.printf("%f, %f \n\r", passRatio, knockRatio);
+                
+                if ( !( (knockRatio>=(0.5*passRatio)) && (knockRatio<=(2.2*passRatio)) ) ){
+                    passwordMatch = false;
+                    }
+                }
+            }
+                
+        //set correct/incorect password flag
+        if(passwordMatch){
+            pc.printf("MATCH!!");
+            position = 0;
+            }
+        else{
+            pc.printf("NO WAY JOSE!");
+            }
+        }
+
+
 }
\ No newline at end of file